-
摘要: 直接横摆力矩控制(DYC,Direct Yaw Moment Control)可在极限工况下产生维持车辆稳定行驶所需的附加横摆力矩,从而提高汽车的主动安全性能.建立了能够满足汽车稳定性控制测试要求的非线性汽车动力学模型,设计了用于汽车DYC的滑模变结构控制器(SMC,Sliding Mode Controller),并利用李氏函数证明了系统的稳定性,最后在Matlab/Simulink环境下对SMC的稳定性和控制效果进行了仿真测试.仿真结果表明了控制算法的有效性,并通过与PID(Proportional-Integral-Derivative)算法控制效果的对比说明了SMC具有更好的鲁棒性,拥有更好的应用潜力.Abstract: Direct yaw moment control (DYC) can generate the additional yaw-moment needed to maintain vehicle stability in the limit conditions so to improve the active safety of a vehicle-s handling. A nonlinear vehicle dynamic model which meets the requirements of vehicle stability control experiments was established, and a sliding mode controller (SMC) was designed. The stability of the SMC controller was proved with Lyapunov function. At last the stability and control effect of the SMC was verified by simulations in Matlab/Simulink. The simulation results prove the effectiveness of the control algorithm and suggeste that the robustness of SMC is better than that of proportional-integral-derivative(PID) control algorithm, which proves SMC better application potential.
-
Key words:
- direct yaw moment control /
- sliding mode controller /
- stability analysis
-
[1] 黄炳华,陈祯福.ESC 的最新动向和发展趋势[J].汽车工程,2008,30(1): 1-9 Huang Binghua,Chen Zhenfu.The current situation and development trends of ESC[J].Automotive Engineering,2008,30(1): 1-9(in Chinese) [2] 李亮,宋健,祁雪乐.汽车动力学稳定性控制系统研究现状及发展趋势[J].农业机械学报,2006,37(2):141-144 Li Liang,Song Jian,Qi Xuele,et al.Investigation and development of vehicle dynamics stability control system[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(2):141-144(in Chinese) [3] 刘金琨.滑模变结构控制Matlab仿真[M].北京:清华大学出版社,2005:4-18 Liu Jinkun.Matlab simulation for slidingmode control[M].Beijing:Tsinghua University Press,2005: 4-18(in Chinese) [4] Wang Xinhua,Chen Zengqiang,Yang Geng.Finite time convergent differentiator based on singular perturbation technique[J]. IEEE Transactions on Automatic Control,2007,52(9):1731-1737 [5] 杨智,朱海锋,黄以华.PID控制器设计与参数整定方法综述[J].化工自动化及仪表,2005,32(5):1-7 Yang Zhi,Zhu Haifeng,Huang Yihua.Recent studies of PID design and parameter tuning method[J].Control and Instruments in Chemical Industry,2005,32(5):1-7(in Chinese) -
点击查看大图
计量
- 文章访问数: 3252
- HTML全文浏览量: 159
- PDF下载量: 1192
- 被引次数: 0
下载:
