A vehicle stability controller is designed based on a linear quadratic regulator with integrated four-wheel steering and direct yaw moment control providing new collaborative control strategies.The control system adopts a hierarchical structure,with the upper layer being the linear quadratic regulator-based yaw moment decision layer and the lower layer being the drive force distribution layer.The upper layer controller uses an iterative method to solve the Riccati equation in real time to obtain the rear wheel turning angle and the additional yaw moment to complete the optimization of the side-slip angle of the vehicle and the yaw rate;the lower layer controller uses two distribution methods,namely,average distribution and sequential quadratic programming,to distribute the longitudinal force and the additional yaw moment to the four wheels.In order to verify the effectiveness of the controller,it is simulated and tested in real vehicles using two operating conditions:front wheel stepping angle and sine angle.The results show that the controller can make the side-slip angle of vehicle and yaw rate track the ideal value better,and the vehicle stability is improved;meanwhile,the sequential quadratic programming method reduces the tire loading rate better and increases the service life of the motor controller.
维普
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