摘要
为了提升车辆高速避障工况行驶稳定性,防止车辆在突变大转向下发生侧翻事故,建立整车七自由度动力学模型,提出主动悬架外环防侧翻多目标控制方法,获得外环控制力反馈增益系数。并基于此期望外环控制力研究主动悬架内环自适应鲁棒控制方法,形成针对参数不确定性的内环鲁棒期望力跟随控制。最后采用SIMULINK^(®)及CARSIM^(®)联合仿真,构建模拟高速避障的侧翻工况以及高速大转角的鱼钩工况对所设计的防侧翻鲁棒控制进行验证,仿真结果表明,在侧翻工况下及鱼钩工况下,液压主动悬架可以将车辆侧倾角控制在1.4°及0.023°之内,侧倾角变化率控制在8°/s及0.08°/s之内,在鱼钩工况下主动悬架侧倾角较被动悬架降低70%以上,保证了不同车轮在极限工况下都可以有足够的路面支持力,提升了车辆高速避障工况下的行驶稳定性。
In order to improve the driving stability of the vehicle under high speed obstacle avoidance and prevent rollover accidents under sudden big steering,a 7-DoF vehicle dynamics model was established,and a multi-objective control method for antirollover of the active suspension outer loop was proposed,and the feedback gain coefficient of the outer loop control force was obtained.Based on the expected external control force,an adaptive robust control method for the inner loop of active suspension is proposed,and a robust expected force following control method with parameter uncertainty is formed.Finally,SIMULINK^(®)and CARSIM^(®)co-simulation methods were used to establish the simulation of high-speed obstacle avoidance rollover conditions and highspeed fishhook conditions,and to verify the designed anti-rollover robust control.The simulation results show that the hydraulic active suspension can control the roll angle of the vehicle within 1.4°under rollover condition and 0.023°under fishhook condition.The roll rate was controlled within 8°/s under rollover condition and 0.08°/s under fishhook condition.The roll angle was decreased by 70%compared with the passive suspension under fishhook condition,which ensures that different wheels can have sufficient road support under extreme conditions and improve the driving stability of vehicles under high-speed obstacle avoidance conditions.
作者
李海鸽
尹明东
王冀白
史远
LI Haige;YIN Mingdong;WANG Jiubai;SHI Yuan(School of New Energy Vehicles,Xi’an Automotive University,Xi’an 710600,China;Intelligent Vehicles and Engineering,Xi’an Automotive University,Xi’an 710600,China)
出处
《自动化与仪器仪表》
2025年第1期168-172,177,共6页
Automation & Instrumentation
基金
陕西省教育厅科学研究专项(19JK0641)。
关键词
液压主动悬架
七自由度模型
防侧翻
鲁棒控制
hydraulic active suspension
7 DoF model
anti-rollover
robust control
