基于主动横向稳定杆与差动制动联合控制的车辆防侧翻研究*

doi:10.19562/j.chinasae.qcgc.2019.09.009

汽车工程 ›› 2019, Vol. 41 ›› Issue (9): 1043-1049.doi: 10.19562/j.chinasae.qcgc.2019.09.009

基于主动横向稳定杆与差动制动联合控制的车辆防侧翻研究^*

陈松^1,2, 张红党¹, 吴海东¹, 张凤娇¹, 江晓莹¹

1.常州机电职业技术学院,常州 213164;
2.南通航运职业技术学院,南通 226010

收稿日期:2017-12-01 修回日期:2018-01-19 出版日期:2019-09-25 发布日期:2019-10-12
通讯作者: 陈松,副教授,E-mail:chensong445678@163.com
基金资助:
国家自然科学基金(51575001)、江苏省高等学校自然科学研究面上项目(17KJB460010)、江苏省高校“青蓝工程”中青年学术带头人项目和南通市226人才工程资助。

A Research on Vehicle Rollover Prevention Based on Combined Controlwith Active Anti-Roll Bar and Differential Braking

Chen Song^1,2, Zhang Hongdang¹, Wu Haidong¹, Zhang Fengjiao¹ & Jiang Xiaoying¹

1.Changzhou Vocational Institute of Mechatronic Technology, Changzhou 213164;
2.Nantong Shipping College, Nantong 226010

Received:2017-12-01 Revised:2018-01-19 Online:2019-09-25 Published:2019-10-12

摘要/Abstract

摘要： 针对高速行驶的车辆处于大转角、避障等紧急工况下容易出现侧翻的问题,本文中提出了采用差动制动与主动横向稳定杆联合对车辆进行侧翻控制策略。为提高对车辆侧翻的控制效果,一方面通过全轮差动制动来提高车辆的横摆稳定性,防止车辆由于失稳产生绊倒性侧翻,并减小车辆的侧倾;另一方面,考虑到处于紧急工况下车辆的非线性与时变性,采用主动横向稳定杆并设计了2阶滑模超螺旋控制器来动态跟踪车辆的理想侧倾角,实现驾驶员对车辆侧倾姿态的准确判断,防止驾驶员产生误操作,进一步提高了车辆的防侧翻能力。最后,通过硬件在环试验对提出的主动横向稳定杆与差动制动联合控制策略的有效性进行了验证。

关键词: 侧翻, 主动横向稳定杆, 差动制动, 超螺旋滑模控制, 硬件在环试验

Abstract: In view of the problem that the high-speed driving vehicle is prone to rollover in sharp turning or obstacle avoidance maneuver, a rollover control strategy with the combination of differential braking and active anti-roll bar is put forward. For enhancing rollover control effect, on one hand, all-wheel differential braking is adopted to enhance the yaw stability of vehicle, prevent the vehicle from tripping rollover due to instability, and reduce the probability of vehicle rollover; on the other hand, taking into account the nonlinearity and time variability of vehicle under emergency conditions, an active anti-roll bar is applied and a second-order sliding mode super-twisting controller is designed to dynamically track the ideal roll angle of the vehicle for achieving accurate judgment of the inclination of vehicle rollover, preventing the mal-operation of driver and further enhancing the anti-rollover capability of vehicle. Finally, a hardware-in-loop test is conducted to validate the effectiveness of the combined control strategy with active anti-roll bar and differential braking.

Key words: rollover, active anti-roll bar, differential braking, super-twisting sliding mode control, hardware-in-loop test

陈松, 张红党, 吴海东, 张凤娇, 江晓莹. 基于主动横向稳定杆与差动制动联合控制的车辆防侧翻研究^*[J]. 汽车工程, 2019, 41(9): 1043-1049.

Chen Song, Zhang Hongdang, Wu Haidong, Zhang Fengjiao & Jiang Xiaoying. A Research on Vehicle Rollover Prevention Based on Combined Controlwith Active Anti-Roll Bar and Differential Braking[J]. Automotive Engineering, 2019, 41(9): 1043-1049.

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基于主动横向稳定杆与差动制动联合控制的车辆防侧翻研究^*

A Research on Vehicle Rollover Prevention Based on Combined Controlwith Active Anti-Roll Bar and Differential Braking

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