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工程设计学报
工程设计学报  2016, Vol. 23 Issue (5): 409-416    DOI: 10.3785/j.issn.1006-754X.2016.05.002
保质设计     
基于相平面方法的车辆稳定性控制
柳江1, 陈朋1, 李道飞2
1. 青岛理工大学汽车与交通学院, 山东 青岛 266520;
2. 浙江大学动力机械及车辆工程研究所, 浙江 杭州 310027
Vehicle stability control based on phase-plane method
LIU Jiang1, CHEN Peng1, LI Dao-fei2
1. School of Automobile and Transportation, Qingdao University of Technology, Qingdao 266520, China;
2. Institute of Power Machinery and Vehicle Engineering, Zhejiang University, Hangzhou 310027, China
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摘要：

针对车辆的稳定性问题，基于相平面理论，通过建立二自由度车辆的扩展模型以及运用简化的魔术公式对实际的轮胎侧向力进行拟合，获得了相平面图并划分稳定的区域；研究路面附着系数和车速对相平面边界的影响，确定质心侧偏角与质心侧偏角速度β-β相平面及质心侧偏角与横摆角速度β-r相平面的边界函数，提出一种车辆稳定性控制方法.在建立的Simulink与Carsim联合仿真平台上，对所设计的控制器进行验证，当系统相轨迹超出稳定区域时，以稳定边界为控制目标，控制器集成2种相平面图计算所需要的横摆力矩，将不稳定的状态拉到稳定区域，从而实现了车辆稳定性的控制.最后，与受2种单一相平面控制、横摆角速度控制和未控制的车辆进行对比，结果表明：所设计的集成控制器有一定的优势，能够显著提高极限工况下车辆的稳定性.
关键词： 相平面方法;  边界函数;  稳定性;  横摆力矩控制    
Abstract:

Aiming at the stability problems of vehicles,by establishing an extended two degrees of freedom vehicle model and using simplified Magic Formula to fit the practical tire lateral force,the stable zone boundaries of phase-plane were acquired based on phase plane theory. After studying the effects of the road frictional coefficient and vehicle speed on the phase plane of boundary,the boundary functions of the sideslip angle-sideslip angle rate called β-β phase plane and the sideslip angle-yaw rate called β-r phase plane were determined and the vehicle stability control method was put forward.The control strategy was validated on the co-simulation platform based on Simulink and Carsim,when the system phase trajectory got out of the stability region,the stability controller would calculate the required yaw moment by combining β-β phase plane with β-r phase plane,to limit the system within the stability boundary,and thus pulled the unstable states to the stable zone.Finally,by comparing with the two phase plane controllers,yaw rate method and the uncontrolled case,the results showed that the integrated control method had a certain advantage and could improve vehicle stability under extreme condition obviously.
Key words: phase-plane method    boundary function    stability    yaw moment control
收稿日期: 2015-10-13 出版日期: 2016-10-28
CLC:  U46  
基金资助:

国家自然科学基金资助项目（51575288，51205345）；中央高校基本科研业务费专项资金资助项目（2015QNA4014）；浙江省教育厅项目（Y201121739）；浙江省重点科技创新团队项目（2011R50008）.
通讯作者: 李道飞(1981-),男,浙江江山人,副教授,博士,从事车辆系统动力学与车辆控制研究,E-mail:dfli@zju.edu.cn.     E-mail: dfli@zju.edu.cn
作者简介: 柳江(1976-),男,山东青岛人,副教授,博士,从事车辆系统动力学与车辆控制研究,E-mail:zeh@163.com.http://orcid.org//0000-0002-2541-7131
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引用本文:

柳江, 陈朋, 李道飞. 基于相平面方法的车辆稳定性控制[J]. 工程设计学报, 2016, 23(5): 409-416.

LIU Jiang, CHEN Peng, LI Dao-fei. Vehicle stability control based on phase-plane method. Chinese Journal of Engineering Design, 2016, 23(5): 409-416.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.05.002    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I5/409

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