The invention discloses a vehicle stability control method based on a Lyapunov stability theory, and the method comprises the following steps: building a stability control dynamics model based on a two-degree-of-freedom vehicle dynamics model; a Lyapunov stability theory is utilized to design a model reference adaptive controller; according to the designed model reference adaptive controller, solving an adaptive feedforward gain Ku and an adaptive feedback gain Kp; and according to the self-adaptive feed-forward gain Ku and the self-adaptive feedback gain Kp, the vehicle can dynamically adjust the additional vehicle additional yaw moment, and real-time control over the stability of the vehicle is achieved. The method is based on a vehicle dynamics model, the adaptive law of a model reference adaptive system can be obtained through the Lyapunov stability theory, meanwhile, the stability of a control system can be guaranteed, the vehicle can have a good control effect, and the requirements for control precision, real-time performance and the like during vehicle stability control are improved to a certain degree.

    本发明公开了一种基于Lyapunov稳定性理论的车辆稳定性控制方法,包括以下步骤:基于二自由度车辆动力学模型,建立稳定性控制动力学模型;利用Lyapunov稳定性理论,设计模型参考自适应控制器;根据设计的模型参考自适应控制器,求解出自适应前馈增益Ku和自适应反馈增益Kp;根据自适应前馈增益Ku和自适应反馈增益Kp,车辆能够动态调整附加的汽车附加横摆力矩,实现对车辆稳定性的实时控制。该方法基于车辆动力学模型,通过Lyapunov稳定性理论可以求得模型参考自适应系统的自适应律,同时能够保证控制系统的稳定性,使车辆能够有很好的控制效果,在一定程度上改善了车辆稳定性控制时控制精度和实时性等要求。


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    Titel :

    Vehicle stability control method based on Lyapunov stability theory


    Weitere Titelangaben:

    一种基于Lyapunov稳定性理论的车辆稳定性控制方法


    Beteiligte:
    SHEN YAWEI (Autor:in) / ZHAO YOUQUN (Autor:in) / LIN TAO (Autor:in) / DENG HUIFAN (Autor:in)

    Erscheinungsdatum :

    2022-07-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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