摘要
探讨了转弯车辆行驶在极限运动工况下时 ,依靠施加各车轮不同纵向制动力从而产生辅助横摆力矩来提高车辆动力学稳定性的基本原理。推导了两自由度车辆横向动力学方程 ,提出了车辆侧滑速度的 3种实时估计方案(积分法、代数法和 Luenberger观察器法 ) ,视实际车辆前后轮胎侧偏刚度为有界不确定性参数 ,为跟踪线性两自由度理想车辆模型的稳态输出响应 ,设计了车辆动力学稳定性变结构控制策略 。
The principle of enhancing vehicle dynamics stacility through additional yaw moment produced by different longitudinal braking force among four wheels is discussed, when the vehicle cornering is running under limit handling maneuver. Lateral dynamics equations of two degree-of-freedom vehicle model are derived, three kinds of real-time estimation tactics of vehicle side slip velocity (including integration of lateral acceleration, algebraic equation estimation and the use of Luenberger observer) are presented. Assume that front and rear wheel cornering stiffness varies in a very limit range, variable structure sliding mode control strategy for vehicle dynamics stability system is designed in order to follow the ideal steady output response of linear two degree-of-freedom vehicle model. Finally, computer simulation is used to investigate and conform the concepts being discussed. So, a foundation for the design and quantitative analysis of reality vehicle dynamics stability controller is laid.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第2期152-156,共5页
China Mechanical Engineering
基金
汽车动态模拟国家重点实验室开放基金资助项目(2 0 0 0 10 6)
关键词
车辆动力学稳定性
横向动力学方程
侧滑速度估计
变结构滑模控制
vehicle dynamics stability lateral dynamics equation side slip velocity estimation variable structure sliding mode control
