The lateral yaw angle and yaw speed of the vehicle center of mass play a crucial role in the control of vehicle handling stability, and they are usually used as state variables of the control system. In order to improve the steering system maneuverability and driving stability of the vehicle, this paper analyzes the stress condition of the ideal two-degree-of-freedom vehicle by simplifying the vehicle model, takes the linear two-degree-of-freedom model of the vehicle as the ideal control target, calculates the ideal yaw velocity and the ideal centroid side deflection angle, and at the same time, on the basis of the theory of sliding mode control, an adaptive approach rate sliding mode controller is designed based on the feedback of lateral deflection angle and yaw velocity of the center of mass. Finally, Carsim was used to build the vehicle model and provide simulation conditions. Through co-simulation with the adaptive reach rate sliding mode controller in Simulink, it was verified that the designed controller optimized the vehicle yaw velocity response and the response of centroid side deflection angle at the peak value of 5.5％ and 20.0％ respectively in double-shift working conditions. It can effectively improve the tracking effect of the vehicle center of mass side deflection angle and yaw angle speed to the ideal value, and improve the handling stability of the vehicle.
关键词
稳定性控制/滑模控制/联合仿真/二自由度模型
Key words
stability control/sliding mode control/co-simulation/two-degree-of-freedom model
维普
万方数据