基于侧偏角估计的汽车稳定性控制仿真研究
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摘要
在极限工况下,汽车转向过程很容易失去控制造成不必要的交通事故,为了提高汽车在极限工况下的稳定性,提出了汽车转向过程的稳定性控制系统。利用UKF设计观测器估计质心侧偏角和横摆角速度,通过质心侧偏角和横摆角速度估计值与理想值之差设计滑模控制器,确定汽车稳定行驶所需横摆力矩并考虑实际约束条件进行力矩分配实现汽车的稳定性控制。为验证算法的有效性,分别在蛇形工况和双移线工况下进行仿真。仿真结果显示,设计的观测器可以比较准确的估计质心侧偏角和横摆角速度,稳定性控制系统可以有效的提高汽车转向过程的稳定性,具有一定的实用价值。
Under extreme conditions, vehicle steering process is easy to lose control and cause unnecessary traffic accidents. In order to improve the vehicle stability under extreme conditions, a sliding mode control algorithm is proposed to control vehicle stability. The sideslip angle and yaw rate were estimated with UKF estimator, the sliding mode controller was designed according to the difference between estimated value and ideal value, and the yaw moment was determined. Considering the actual constraint conditions, the determined yaw moment was allocated to realize the vehicle stability control. To verify the effectiveness of the algorithm, the simulations were conducted in the snake condition and Double Lane Change condition. The simulation results show that the designed observer can estimate sideslip angle and yaw rate accurately, the designed sliding mode control algorithm can improve the vehicle steering stability effectively and it has a certain practical value.
Under extreme conditions, vehicle steering process is easy to lose control and cause unnecessary traffic accidents. In order to improve the vehicle stability under extreme conditions, a sliding mode control algorithm is proposed to control vehicle stability. The sideslip angle and yaw rate were estimated with UKF estimator, the sliding mode controller was designed according to the difference between estimated value and ideal value, and the yaw moment was determined. Considering the actual constraint conditions, the determined yaw moment was allocated to realize the vehicle stability control. To verify the effectiveness of the algorithm, the simulations were conducted in the snake condition and Double Lane Change condition. The simulation results show that the designed observer can estimate sideslip angle and yaw rate accurately, the designed sliding mode control algorithm can improve the vehicle steering stability effectively and it has a certain practical value.
引文
[1] Hiroshi Fujimoto, Shingo Harada.Model- Based Range Extension Control System for Electric Vehicles With Front and Rear Driving–Braking Force Distributions[J]. IEEE Transactions on Industrial Electronics, 2015,62(5):3245-3254.
[2] 赵韩,胡金芳,叶先军. 混合动力汽车制动稳定性分层协调控制策略[J]. 汽车工程, 2014-1:93-100.
[3] Rajesh Rajamani, Damrongrit Neng Piyabongkarn. New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control[J]. IEEE Transactions on Intelligent Transportation Systems, 2013,57(1):88-90.
[4] Binh Minh Nguyen, Yafei Wang, Hiroshi Fujimoto, Yoichi Hori. Sideslip Angle Estimation Using GPS and Disturbance Accommodating Multi-rate Kalman Filter for Electric Vehicle Stability Control[C]. IEEE Vehicle Power and Propulsion Conference, 2012:1323-1328.
[5] 包瑞新,等. 基于扩展Kalman粒子滤波的汽车行驶状态和参数估计[J]. 农业机械学报, 2015,46(2):301-306.
[6] 李刚等. 基于模糊路面识别的4WID电动车驱动防滑控制[J].华南理工学报(自然科学版), 2012,40(12):99-106.
[7] 林棻,赵又群. 汽车侧偏角估计方法比较[J].南京理工大学学报(自然科学版), 2009,33(1):122-126.
[8] 褚文博,罗禹贡,陈龙,李克强. 分布式电驱动车辆的的无味粒子滤波状态参数联合观测[J]. 机械工程学报, 2013,49(24):117-127.
[9] Stefano Di Cairano, Hongtei Eric Tseng, Daniele Bernardini, Alberto Bemporad. Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain[J]. IEEE Transactions on Control Systems Technology, 2013,21(4):1236-1248.
[10] 赵伟,张孝友. 基于模糊控制技术的汽车制动稳定性仿真研究[J]. 武汉理工大学报(交通科学与工程版), 2012-2:356-360.
[11] 徐哲,魏民祥. 汽车稳定性控制系统模糊算法研究[J].机械科学与技术, 2012-11: 1790-1795.
[12] 徐中明,余烽,张志飞,苏周成,贺岩松. 车辆转弯制动动力学稳定性控制建模与仿真[J]. 系统仿真学报, 2009,21(13):4135-4139.
[13] Stefano Di Cairano, Hongtei Eric Tseng, Daniele Bernardini, Alberto Bemporad. Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain[J]. IEEE Transactions on Control Systems Technology, 2013,21(4):1236-1248.
[14] 黄小平,王岩. 卡尔曼滤波原理及应用—MATLAB仿真[M]. 电子工业出版社, 2015-7.
[15] Norhazimi Hamzah, M Khairi Aripin, Yahaya Md Sam, Hazlina Selamat and Muhamad Fahezal Ismail. Yaw stability improvement for four-wheel active steering vehicle using sliding mode control[C]. Signal Processing and its Applications (CSPA), 2012 IEEE 8th International Colloquium on, Melaka, 2012: 127-132.
[16] ISO 3888-2-2011. Passenger cars-Test track for a severe lane-change maneuver-Part 2:Obstacle avoidance[S]. 2011-03-15.
[17] 全国汽车标准化技术委员会. GB/T 6323.1-1994 汽车操纵稳定性试验方法:蛇形试验[S]. 北京:中国标准出版社, 1994.
[2] 赵韩,胡金芳,叶先军. 混合动力汽车制动稳定性分层协调控制策略[J]. 汽车工程, 2014-1:93-100.
[3] Rajesh Rajamani, Damrongrit Neng Piyabongkarn. New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control[J]. IEEE Transactions on Intelligent Transportation Systems, 2013,57(1):88-90.
[4] Binh Minh Nguyen, Yafei Wang, Hiroshi Fujimoto, Yoichi Hori. Sideslip Angle Estimation Using GPS and Disturbance Accommodating Multi-rate Kalman Filter for Electric Vehicle Stability Control[C]. IEEE Vehicle Power and Propulsion Conference, 2012:1323-1328.
[5] 包瑞新,等. 基于扩展Kalman粒子滤波的汽车行驶状态和参数估计[J]. 农业机械学报, 2015,46(2):301-306.
[6] 李刚等. 基于模糊路面识别的4WID电动车驱动防滑控制[J].华南理工学报(自然科学版), 2012,40(12):99-106.
[7] 林棻,赵又群. 汽车侧偏角估计方法比较[J].南京理工大学学报(自然科学版), 2009,33(1):122-126.
[8] 褚文博,罗禹贡,陈龙,李克强. 分布式电驱动车辆的的无味粒子滤波状态参数联合观测[J]. 机械工程学报, 2013,49(24):117-127.
[9] Stefano Di Cairano, Hongtei Eric Tseng, Daniele Bernardini, Alberto Bemporad. Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain[J]. IEEE Transactions on Control Systems Technology, 2013,21(4):1236-1248.
[10] 赵伟,张孝友. 基于模糊控制技术的汽车制动稳定性仿真研究[J]. 武汉理工大学报(交通科学与工程版), 2012-2:356-360.
[11] 徐哲,魏民祥. 汽车稳定性控制系统模糊算法研究[J].机械科学与技术, 2012-11: 1790-1795.
[12] 徐中明,余烽,张志飞,苏周成,贺岩松. 车辆转弯制动动力学稳定性控制建模与仿真[J]. 系统仿真学报, 2009,21(13):4135-4139.
[13] Stefano Di Cairano, Hongtei Eric Tseng, Daniele Bernardini, Alberto Bemporad. Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain[J]. IEEE Transactions on Control Systems Technology, 2013,21(4):1236-1248.
[14] 黄小平,王岩. 卡尔曼滤波原理及应用—MATLAB仿真[M]. 电子工业出版社, 2015-7.
[15] Norhazimi Hamzah, M Khairi Aripin, Yahaya Md Sam, Hazlina Selamat and Muhamad Fahezal Ismail. Yaw stability improvement for four-wheel active steering vehicle using sliding mode control[C]. Signal Processing and its Applications (CSPA), 2012 IEEE 8th International Colloquium on, Melaka, 2012: 127-132.
[16] ISO 3888-2-2011. Passenger cars-Test track for a severe lane-change maneuver-Part 2:Obstacle avoidance[S]. 2011-03-15.
[17] 全国汽车标准化技术委员会. GB/T 6323.1-1994 汽车操纵稳定性试验方法:蛇形试验[S]. 北京:中国标准出版社, 1994.
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