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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.
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Key words:
- direct yaw moment control /
- sliding mode controller /
- stability analysis
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