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摘要: 基于Lyapunov理论提出车辆主动前轮转向与直接横摆力矩的集成控制方法, 在二自由度车辆模型的基础上设计了自适应控制器, 对轮胎刚度进行自适应估计以补偿轮胎侧向力的非线性, 基于MATLAB和CarSim软件搭建了车辆闭环仿真模型, 在路面上进行了正弦输入仿真试验。仿真结果表明: 附着系数为0.8、车速为100 km·h-1时, 前轴侧向力最大误差为210 N, 约占前轴实际侧向力的8.1%, 后轴侧向力最大误差为296 N, 约占后轴实际侧向力的8.5%;附着系数为0.3、车速为80 km·h-1时, 前轴侧向力最大误差为146 N, 约占前轴实际侧向力的8.5%, 后轴侧向力最大误差为142 N, 约占后轴实际侧向力的9.8%。车辆主动前轮转向与直接横摆力矩集成控制的效果优于主动前轮转向和直接横摆力矩单独控制的效果。Abstract: An integrated control method of active front steering and direct yaw moment for vehicle was proposed based on Lyapunov theory.An adaptive controller was designed based on the vehicle model with two degrees of freedom.The tire stiffness was adaptively estimated to compensate the nonlinear of tire lateral force.The closed-loop simulation model of vehicle was established based on MATLAB and CarSim software.The sinusoidal input simulation test was carried out on road.Simulation result shows that when adhesion coefficient is 0.8 and speed is 100 km·h-1, the maximum error of front axle lateral force is 210 Nand about 8.1% of front axle actual lateral force, and the maximum error of back axle lateral force is 296 Nand about 8.5% of back axle actual lateral force.When adhesion coefficient is 0.3 and speed is 80 km·h-1, the maximum error of front axle lateral force is 146 Nand about 8.5% of front axle actual lateral force, and the maximum error of back axle lateral force is 142 Nand about 9.8% of back axle actual lateral force.The integrated control effects of active front steering and direct yaw moment are better than the individually control effects of active front steering and direct yaw moment.
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图 4 高附着系数下正弦输入横摆角速度响应
Figure 4. Yaw rate response with sinusoidal input and high adhesion coefficient
图 5 高附着系数下正弦输入质心侧偏角响应
Figure 5. Barycenter side-slip angle response with sinusoidal input and high adhesion coefficient
图 6 高附着系数下车辆和车轮速度变化
Figure 6. Speed variation of vehicle and wheels with high adhesion coefficient
图 7 高附着系数下轮胎实际侧向力与估计侧向力
Figure 7. Tire actual lateral forces and estimated lateral forces with high adhesion coefficient
图 8 高附着系数下正弦试验主动控制输入
Figure 8. Active control input of sinusoidal test with high adhesion coefficient
图 9 低附着系数下正弦输入横摆角速度响应
Figure 9. Yaw rate response with sinusoidal input and low adhesion coefficient
图 10 低附着系数下正弦输入质心侧偏角响应
Figure 10. Barycenter side-slip angle response with sinusoidal input and low adhesion coefficient
图 11 低附着系数下轮胎实际侧向力与估计侧向力
Figure 11. Tire actual lateral forces and estimated lateral forces with low adhesion coefficient
图 12 低附着系数下正弦试验主动控制输入
Figure 12. Active control input of sinusoidal test with low adhesion coefficient
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