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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics
    
基于侧滑角估计、可降低车辆侧翻风险的主动转向控制方法
Ke Shao1, Jinchuan Zheng2, Bin Deng3, Kang Huang4, Han Zhao3
1Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People's Republic of China 2School of Software and Electrical Engineering, Swinburne University of Technology, Hawthorn, VIC 3122, Australia 3School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, People's Republic of China 4School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, People's Republic of China
Active steering control for vehicle rollover risk reduction based on slip angle estimation
Ke Shao1, Jinchuan Zheng2, Bin Deng3, Kang Huang4, Han Zhao3
1Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, People's Republic of China 2School of Software and Electrical Engineering, Swinburne University of Technology, Hawthorn, VIC 3122, Australia 3School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, People's Republic of China 4School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, People's Republic of China
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摘要： 本研究提出了一种鲁棒控制器，通过控制安装在车辆上的线控转向系统来降低横向加速度，从而抑制自动驾驶车辆的侧翻风险。首先，由于侧滑角难以被直接测量，因此本文提出了一种结合附加开关项与线性观测器的滑模观测器，以在系统存在不确定性时提供更稳健的侧滑角估计。其次，本文提出了一种自适应滑模控制方法，该方法可以自适应地调节控制增益来补偿系统的不确定性。最后，本文通过仿真验证了所提出的估计器和控制器能够有效地、鲁棒地降低车辆侧翻风险。
Abstract: In this study, a robust controller is proposed for rollover risk suppression in automatically-driven vehicles by reducing the lateral acceleration through a steer-by-wire system equipped on the vehicles. First, since the slip angle is difficult to measure directly, a sliding mode observer combining an add-on switching term with a linear observer is developed to provide more robust estimation of slip angle in the presence of system uncertainties. Second, an adaptive sliding mode control method is proposed, in which the control gain is adaptively tuned to compensate for the system uncertainties. Lastly, simulation is conducted and the results verify that the proposed estimator and controller can reduce the vehicle rollover risk efficiently and robustly.
收稿日期: 2019-09-04
通讯作者: Han Zhao     E-mail: hanzhao@hfut.edu.cn
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Ke Shao
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引用本文:

Ke Shao, Jinchuan Zheng, Bin Deng, Kang Huang, Han Zhao. Active steering control for vehicle rollover risk reduction based on slip angle estimation. IET Cyber-Systems and Robotics, 10.1049/iet-csr.2019.0030.

链接本文:

http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0030    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I3/1

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