车辆稳定控制中的合力计算与分配

被引：8

作者：

刘跃 ^{[1
]}

方敏 ^{[1
]}

汪洪波 ^{[2
]}

机构：

[1] 合肥工业大学电气与自动化工程学院

[2] 合肥工业大学机械与汽车工程学院

来源：

控制理论与应用 | 2013年 / 30卷 / 09期

关键词：

车辆运动稳定控制; 合力可行域; 轮胎力分配;

D O I：

暂无

中图分类号：

U461.6 [汽车的操纵性和稳定性];

学科分类号：

080204 ; 082304 ;

摘要：

控制地面作用于车辆的纵侧向合力与横摆转矩并将其分配到4个车轮,是车辆平面运动稳定控制的方法之一.路面的附着极限决定了合力与横摆转矩的可行域,是该方法的约束条件.本文分析了轮胎的受力特点,在摩擦椭圆理论的基础上,给出了简化的纵侧向力耦合关系.利用非线性规划方法和大量的数值计算,解决纵向合力与横摆转矩可行域的实时估计问题.构造了一种控制结构,外环控制器计算可行的纵向合力与横摆转矩;内环控制器首先将纵向合力优化分配到4个车轮,然后通过调节前轮转角使横摆转矩跟踪期望值.仿真结果表明,采用本文提出的方法对车辆进行控制,能够实现横摆角速度的快速准确跟踪,并使车辆具有良好的操纵稳定性.

引用

页码：1122 / 1130

页数：9

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