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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (12): 2330-2339    DOI: 10.3785/j.issn.1008-973X.2022.12.002
机械工程     
主动前轮转向和直接横摆力矩集成控制
周兵1(),刘阳毅1,吴晓建2,柴天1,曾勇强1,潘倩兮1
1. 湖南大学 汽车车身先进制造国家重点实验室，湖南 长沙 410082
2. 南昌大学 机电工程学院，江西 南昌 330031
Integrated control of active front steering and direct yaw moment
Bing ZHOU1(),Yang-yi LIU1,Xiao-jian WU2,Tian CHAI1,Yong-qiang ZENG1,Qian-xi PAN1
1. State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China
2. School of Mechatronics Engineering, Nanchang University, Nanchang 330031, China
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摘要：

针对车辆操稳性控制中功能耦合的主动前轮转向（AFS）与直接横摆力矩控制（DYC）的任务协调问题，提出优化相平面法进行稳定区域划分. 基于所提方法建立轮胎侧向力特性协调准则，实现纵横向动力学系统操稳性集成控制. 以前、后轮侧偏角及两者之差作为车辆横向稳定的表征量，结合轮胎侧向力特性划分车辆横向状态为稳定、临界稳定和失稳状态区间. 建立AFS与DYC的协调准则. 考虑控制算法面向实际应用时状态量的获取问题，建立基于超螺旋算法的状态观测器估计车辆前后轮侧偏角. 分别设计基于自适应超螺旋高阶滑模算法的AFS和DYC控制器，在消除控制器抖振和避免频繁切换的基础上完成稳定性控制. 试验结果表明，所提协调准则和控制算法对协调AFS和DYC有积极作用，且操稳性控制效果良好.
关键词： 相平面法;  介入准则;  高阶滑模控制;  集成控制;  主动前轮转向（AFS ）;  直接横摆力矩控制（DYC）    
Abstract:

Aiming at the coordination problem of active front steering (AFS) and direct yaw moment control (DYC) in vehicle handling and stability control, an optimal phase plane method for stable region partition was proposed. In order to realize the integrated control of handling and stability on lateral and longitudinal dynamic system, a coordination criterion considering tire force characteristics was established based on the proposed method . Firstly, the side slip angle of front and rear tires and the difference between them were used as the characterization of vehicle lateral stability. Combined with the lateral force characteristics of the tires, the lateral state of the vehicle was divided into stable, critically stable and unstable regions. Thereby the coordination criterion between AFS and DYC was established. Secondly, considering the problem of obtaining the state variables when the control algorithm was oriented to practical applications, a state observer based on the super-twisting algorithm was established to estimate the vehicle front and rear wheel slip angle. Finally, the AFS and DYC higher-order sliding mode controller based on the adaptive super-twisting algorithm was designed to eliminate the chattering phenomenon and avoided frequent switching of the controllers during the process of stability control. Experimental results showed that the proposed coordination criteria and control method had positive effect on the coordination of AFS and DYC and obtained great effect on the control of handling and stability.
Key words: phase plane method    intervention criterion    higher-order sliding mode control    integrated control    active front wheel steering (AFS)    direct yaw moment control (DYC)
收稿日期: 2021-11-29 出版日期: 2023-01-03
CLC:  U 461.1  
基金资助: 国家自然科学基金资助项目(51875184，52002163); 湖南省自然科学基金资助项目(2019JJ40025)
作者简介: 周兵（1972—），男，教授，博士，从事高级辅助驾驶、汽车动力学研究. orcid.org/0000-0002-0093-7309.E-mail： zhou_bingo@163.com
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周兵
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引用本文:

周兵,刘阳毅,吴晓建,柴天,曾勇强,潘倩兮. 主动前轮转向和直接横摆力矩集成控制[J]. 浙江大学学报(工学版), 2022, 56(12): 2330-2339.

Bing ZHOU,Yang-yi LIU,Xiao-jian WU,Tian CHAI,Yong-qiang ZENG,Qian-xi PAN. Integrated control of active front steering and direct yaw moment. Journal of ZheJiang University (Engineering Science), 2022, 56(12): 2330-2339.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.12.002    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I12/2330

图 1  七自由度车辆模型
参数 数值 参数 数值
整车质量m/kg 1370 轮距B/m 1.55
车辆质心到前轴距离a/m 1.11 整车质心高度hg/m 0.54
车辆质心到后轴距离b/m 1.666 车辆转动惯量Iw/(kg·m2) 1.8
绕Z轴转动惯量Iz/(kg·m2) 4192 车轮滚动半径R/m 0.335
表 1  车辆模型参数
参数 数值 参数 数值 参数 数值
a0 1.3 a6 0 b3 49.6
a1 ?22.1 a7 ?0.354 b4 226
a2 1011 a8 0.707 b5 0.069
a3 1078 b0 1.65 b6 ?0.069
a4 1.82 b1 ?21.5 b7 0.056
a5 0.208 b2 1144 b8 0.486
表 2  魔术公式轮胎模型参数
图 2  车轮侧偏角相平面
图 3  轮胎侧向力区间特性
图 4  融合前后轮侧向力特性的相平面
图 5  前后轮偏角的稳定域
图 6  协调函数的参数意义
图 7  临界稳定区域内直接横摆力矩控制权重
图 8  基于不同相平面的车辆稳定状态图
图 9  主动前轮转向和直接横摆力矩控制的协调控制框架
图 10  不同滑膜控制器下的前轮转角改变量
图 11  基于超螺旋算法观测器的前、后轮侧偏角观测结果
图 12  鱼钩转向工况下的前轮转角
图 13  不同控制器下的车辆轨迹和车辆状态
图 14  主动前轮转向和直接横摆力矩控制的权重
图 15  不同控制方法下的车辆状态相轨迹图
图 16  协调控制下的制动力矩和附加转角
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