针对分层式集成控制系统在不同路面工况下车辆纵向力的控制问题,提出了一种基于模型的实时估计方法.首先选取魔术公式作为参考轮胎模型,并采用有约束混合遗传算法对其关键参数进行实时优化辨识,从而可以计算得到不同路面工况下与目标控...针对分层式集成控制系统在不同路面工况下车辆纵向力的控制问题,提出了一种基于模型的实时估计方法.首先选取魔术公式作为参考轮胎模型,并采用有约束混合遗传算法对其关键参数进行实时优化辨识,从而可以计算得到不同路面工况下与目标控制力对应的目标控制滑移率.采用非奇异快速终端滑摸控制方法(Nonsing ular Fast Terminal Sliding Mode,NFTSM)设计纵向滑移率控制器(Longitudingl Slip ratio Control,LSC)对目标滑移率进行跟踪控制.仿真结果表明:所提出的轮胎-地面力控制策略可以很好地跟踪不同路面工况下的滑移率,满足上层控制所需的目标控制力,从而对车辆进行优化控制.展开更多
This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-r...This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka's tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region,so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.展开更多
文摘针对分层式集成控制系统在不同路面工况下车辆纵向力的控制问题,提出了一种基于模型的实时估计方法.首先选取魔术公式作为参考轮胎模型,并采用有约束混合遗传算法对其关键参数进行实时优化辨识,从而可以计算得到不同路面工况下与目标控制力对应的目标控制滑移率.采用非奇异快速终端滑摸控制方法(Nonsing ular Fast Terminal Sliding Mode,NFTSM)设计纵向滑移率控制器(Longitudingl Slip ratio Control,LSC)对目标滑移率进行跟踪控制.仿真结果表明:所提出的轮胎-地面力控制策略可以很好地跟踪不同路面工况下的滑移率,满足上层控制所需的目标控制力,从而对车辆进行优化控制.
基金supported by a grant from Research year of Inje University in 2008(0001200811700)
文摘This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka's tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region,so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.
