根据车辆的基本动力学特性,分析了轮胎非线性对于车辆横摆稳定性的影响,建立了包括主动横向稳定杆与AFS的整车动力学模型。根据主动横向稳定杆和AFS两个系统的运动耦合关系,分别设计了主动横向稳定杆与AFS的各个子控制器,并设计了前后主动防侧倾力矩分配模糊PID控制器,实现两个子系统的协调控制,提高了车辆转向时的侧倾与横摆稳定性。在MATLAB/Simulink环境中,对车辆在转向工况下进行了仿真研究,利用Carsim软件对仿真结果进行了验证,结果证明了两者协调控制策略的有效性。
Abstract
The influence of the nonlinear tires to the vehicle yaw stability was researched. And the dynamics model of a full vehicle which equipped the active roll stabilizer and active front steering system were set up based on vehicle dynamics theory. Also an active roll stabilizer and active front steering system controller were designed based on the motion coupling relationships between active roll stabilizer and active front steering system. The active anti-roll moment distribution Fuzzy PID controller was designed to coordinate the two systems and enhance the vehicle roll and yaw stability during steering. The vehicle in the steering working situation is simulated with MATLAB/Simulink, and the simulation results were verified in Carsim. The results show the effectiveness of proposed coordinated control strategy.
关键词
主动横向稳定杆 /
AFS /
协调控制 /
模糊PID控制
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Key words
active roll stabilizer /
active front steering /
coordinated control /
Fuzzy PID control
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脚注
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