The invention discloses a steer-by-wire system stability control method. The method comprises the following steps that a four-wheel steer-by-wire system and a whole vehicle model are established; thefour-wheel cornering stiffness, the lateral vehicle speed and the yaw velocity are estimated by adopting an extended Kalman filter algorithm with limited gain; a sliding mode control algorithm is adopted to design an ideal yaw velocity and ideal lateral vehicle speed tracking controller, and stability control over the steer-by-wire system is completed. According to the method, the tire cornering stiffness of the four-wheel steering system and the relevant feedback state of the vehicle are estimated in real time, a robust tracking control strategy is designed to track the lateral vehicle speedand the yaw velocity of the vehicle, and the stability and the driving safety of the whole vehicle are improved while a driver instruction is responded.
本发明公开了一种线控转向系统稳定性控制方法,步骤如下:建立四轮线控转向系统与整车模型;采用限定增益的扩展卡尔曼滤波算法对四轮侧偏刚度及侧向车速、横摆角速度进行估计;采用滑模控制算法设计理想横摆角速度及理想侧向车速跟踪控制器,完成线控转向系统的稳定性控制。本发明的方法实时估计四轮转向系统轮胎侧偏刚度,以及车辆相关反馈状态,设计鲁棒跟踪控制策略对汽车侧向车速及横摆角速度进行跟踪,响应驾驶员指令的同时,提高了整车稳定性及行驶安全性。
Steer-by-wire system stability control method
一种线控转向系统稳定性控制方法
2020-12-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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