|
|
|
| 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 |
|
|
|
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.
|
|
Received: 13 October 2015
Published: 28 October 2016
|
|
|
基于相平面方法的车辆稳定性控制
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
|
|
| [1] Van ZANTEN A T. Bosch ESP systems: 5 years of experience[J]. SAE Technical Paper, 2002, 2000-01-1633.
[2] NAOTO O, TAKEHIRO H, OSAMU Y, et al. Brake torque sensing for enhancement of vehicle dynamics control systems[J]. SAE Technical Paper, 2007, 2007-01-0867.
[3] ZHANG Lei, LIANG Yao-yu, PAN Ning, et al. Vehicle direct yaw moment control based on tire cornering stiffness estimation[C]//Procedings of the ASME 2014 Dynamics Systems and Control Conference.San Antonio, October 22-24,2014: 2-8.
[4] 胡延平,陈无畏,刘翔宇,等.基于非线性直接横摆力矩控制的ESP研究[J].汽车工程,2013, 35(5): 424-429. HU Yan-ping, CHEN Wu-wei, LIU Xiang-yu, et al. A study on electronic stability program based on nonlinear direct yaw-moment control[J]. Automotive Engineering, 2013, 35(5): 424-429.
[5] SAMSUNDAR J, HUSTON J. Estimating lateral stability region of a nonlinear 2 degree-of-freedom vehicle[J]. SAE Technical Paper, 1988, 981172.
[6] PACEJKA H B. Tire and vehicle dynamics[M]. Oxford: Butterworth-Heinemann,2002: 46-50.
[7] 郭孔辉.汽车操纵动力学原理[M].南京:江苏科学技术出版社,2011: 42-57. GUO Kong-hui. Vehicle handling dynamics[M]. Nanjing: Jiangsu Science Technology Press, 2011: 42-57.
[8] GUO K. A study of a phase plane representation for identifying vehicle behavior[J]. Vehicle Ststem Dynamics, 1986, 14(1): 152-167.
[9] ONO E, HOSEO S. Bifurcation in vehicle dynamics and robust front wheel steering control[J]. IEEE Transactions on Control Systems Technology, 1998, 6(3): 412-420.
[10] SHEN Shui-wen, WANG Jun. Nonlinear dynamics and stability analysis of vehicle plane motions[J]. Vehicle System Dynamics, 2007, 45(1): 15-23.
[11] INAGAKI S, KSHIRO I, YAMAMOTO M. Analysis on vehicle stability in critical cornering using phase plane method[J]. JSAE Review, 1995, 16(2): 287-292.
[12] KEN K, MASAKI Y. Vehicle stability control in limit cornering by active brake[J]. SAE Technical Paper, 1996, 960487.
[13] HE J, CROLLA D, LEVESLEY M, et al. Coordination of active steering, driveline and braking for integrated vehicle dynamics control[J]. Proc IMechE Part D: Journal of Automobile Engineering, 2006, 220(10): 1401-1421.
[14] 张晨晨,夏群生,何乐.质心侧偏角对车辆稳定性影响的研究[J].汽车工程,2011, 33(4): 277-282. ZHANG Chen-chen, XIA Qun-sheng, HE Le. A study on the influence of sideslip angle at mass center on vehicle stability[J]. Automotive Engineering, 2011, 33(4): 277-282.
[15] 刘伟,丁海涛,郭孔辉,等.质心侧偏角相图在车辆ESC系统稳定性控制的应用[J].北京理工大学学报,2013, 33(1): 42-46. LIU Wei, DING Hai-tao, GUO Kong-hui, et al. Application of side-slip angle phasigram to vehicle ESC system[J]. Transactions of Beijing Institute of Technology, 2013, 33(1): 42-46.
[16] 刘飞,熊璐,邓律华,等.基于相平面法的车辆行驶稳定性判定方法[J].华南理工大学学报,2014, 42(11): 63-70. LIU Fei, XIONG Lu, DENG Lü-hua, et al. Vehicle stability criterion based on phase plane method[J]. Journal of South China University of Technology, 2014, 42(11): 63-70.
[17] 熊璐,曲彤,冯源,等.极限工况下车辆行驶的稳定性判据[J]. 机械工程学报,2015, 51(10): 103-111. XIONG Lu, QU Tong, FENG Yuan, et al. Stability criterion for the vehicle under critical driving situation[J]. Journal of Mechanical Engineering, 2015, 51(10): 103-111.
[18] SLOTINE JJE, LI Wei-ping. Applied nonlinear control[M]. Englewood Cliff: Prentice Hall, 1991: 1-10. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
