Abstract:

The pose control method of the vehicle with dual motor active lateral stabilizer bar is studied in this paper. Firstly， a dynamic model of a dual motor active lateral stabilizer bar and an eight-degree-of-freedom vehicle model including roll， lateral， yaw pitch， and suspension vertical displacement are established. Secondly， for the problem that the control algorithm parameters are difficult to adjust under complex working conditions， the actual pitch angle estimation method， the ideal pitch angle calibration method， and the pitch condition identification method based on vehicle state information such as suspension height signal and road slope signal are proposed. The pitch sub-controller and the roll sub-controller based on PID control algorithm are designed with the dual motor active lateral stabilizer bar as the actuator. Genetic algorithm is used to tune the parameters of each sub-controller. Finally， combined with the pose control matrix， the vehicle pose joint control algorithm is designed and verified through experiments. The Hardware in Loop results of MATLAB/Simulink CarsimRT and Rapid ECU show that the improvement of the roll angle， roll angle speed， and pitch angle of the vehicle equipped with dual motor active lateral stabilizer bar is more than 10% under different complex working conditions， which proves the feasibility and universality of the control algorithm.

Key words: active lateral stabilizer bar, joint control, pitch and roll, hardware in loop test