考虑动态多目标需求的车辆横摆稳定性自适应控制策略

doi:10.19562/j.chinasae.qcgc.2024.12.018

Abstract

Abstract:

For the dynamic multi-objective requirements of yaw maneuverability and lateral stability under different driving states， an adaptive control strategy for vehicle yaw stability is proposed. Firstly， the vehicle dynamics model is established by piecewise linear fitting technology， and the dynamic stability region boundary related to road adhesion and longitudinal velocity is obtained in phase plane by integrated application of improved two-line method and fuzzy theory. Then， the stability risk during vehicle driving is quantitatively characterized and the dynamic multi-objective mapping function is introduced to adjust the built-in parameters of the stability control strategy designed based on the model predictive theory so as to match the dynamic multi-objective demand of vehicle lateral stability， yaw maneuverability and actuator energy consumption. Finally， the simulation test results prove that the designed control strategy can help the vehicle obtain safer and better stability control effect than the traditional method under various conditions.

Key words: vehicle engineering, stability adaptive control, multi-objective requirements, dynamic stability region, model predictive control

Jian Wu,Hanlin Wang,Bing Zhu,Jian Zhao,Zhicheng Chen. Adaptive Control Strategy for Vehicle Yaw Stability Considering Dynamic Multi-objective Requirements[J].Automotive Engineering, 2024, 46(12): 2329-2338.

Figures/Tables 18

路面附着系数	$B 1$	$B 2$
$0.8 ≤ μ < 1$	0.114	0.102
$0.6 ≤ μ < 0.8$	0.146	0.092
$0.4 ≤ μ < 0.6$	0.172	0.084
$0.3 ≤ μ < 0.4$	0.194	0.072
$0.2 ≤ μ < 0.3$	0.232	0.046
$μ < 0.2$	0.302	0.017

工况	判断准则	制动车轮
$δ > 0$	$γ - γ r > K$	右前轮
	$γ - γ r < - K$	左后轮
	$- K < γ - γ r < K$	无控制
$δ < 0$	$γ - γ r > K$	左前轮
	$γ - γ r < - K$	右后轮
	$- K < γ - γ r < K$	无控制
$δ = 0$	$γ - γ r > K$	右前轮
	$γ - γ r < - K$	左后轮
	$- K < γ - γ r < K$	无控制

参数	符号	数值
车辆质量	m	1 020 kg
质心到前轴距离	$l f$	1.165 m
质心到后轴距离	$l r$	1.165 m
轮距	$D r$	1.48 m
绕z轴转动惯量	$I z$	1 020 $k g ? m 2$
车轮转动惯量	$J r$	1.1 $k g ? m 2$
车轮半径	$r w$	0.308 m
前轮制动效能因数	$K b f$	200 $N ? m / M P a$
后轮制动效能因数	$K b r$	100 $N ? m / M P a$

参数	符号	数值
采样时间	$T S$	0.02 s
控制时域	$N$	5
控制器A参数	$k 1$	$1 × 106$
	$k 2$	$1 × 105$
	$k 3$	2
	$q 1$	18.6
	$q 2$	8.9
	$q 3$	10.5
控制器B参数	$Q 1 B$	$19.6 × 106$
	$Q 2 B$	$7.9 × 105$
	$R B$	19
控制器C参数	Q	diag $[19.6,1090]$
控制器C参数	R	0.000 02

References 15

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特征系数		路面附着系数
特征系数		PS	PM	PB
纵向速度	PS	S	M	L
	PM	VS	S	L
	PB	VS	VS	M

行驶状态位置	需求说明
稳定区域	横摆操纵性?
临界稳定区域	侧向稳定性?，横摆操纵性?，节约能耗?
不稳定区域	侧向稳定性?

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Adaptive Control Strategy for Vehicle Yaw Stability Considering Dynamic Multi-objective Requirements

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