The invention relates to a vehicle transverse and longitudinal coupling stability control method based on TS fuzzy. Firstly, a vehicle three-degree-of-freedom nonlinear model containing the longitudinal speed, the lateral speed and the yaw velocity of a vehicle is established. By considering the influence of the longitudinal vehicle speed on the yaw velocity, the vehicle three-degree-of-freedom nonlinear model is converted into three vehicle three-degree-of-freedom linear model subsystems according to the TS fuzzy theory, and each subsystem comprises four fuzzy rules. A stability controller isdesigned for each subsystem by using an H-infinity robust theory, parameters of the stability controller in each subsystem are solved through a linear matrix inequality (LMI), and finally, control output of the subsystems is integrated to act on vehicle control on the basis of a parallel distributed compensation framework. The nonlinear problem of a three-degree-of-freedom vehicle dynamic model is effectively solved by using a TS fuzzy theory and a parallel distributed compensation framework, the robustness of vehicle stability control is effectively improved by using H-infinity control, andstable driving of the vehicle under extreme working conditions is ensured.
本发明是一种基于T‑S模糊的车辆横纵向耦合稳定性控制方法。首先建立了包含车辆纵向速度、侧向速度和橫摆角速度的车辆三自由度非线性模型。考虑到纵向车速对橫摆角速度的影响,根据T‑S模糊理论将车辆三自由度非线性模型转换为3个车辆三自由度线性模型的子系统,每个子系统包含4个模糊规则。使用H∞鲁棒理论为每个子系统设计了稳定性控制器,通过线性矩阵不等式(Linear matrix inequality,LMI)求解每个子系统中稳定性控制器的参数,最后基于并行分布式补偿框架综合子系统控制输出作用于整车控制。通过使用T‑S模糊理论和并行分布式补偿框架有效地解决了三自由度的车辆动力学模型的非线性问题,使用H∞控制有效的提高了车辆稳定性控制的鲁棒性,保证车辆在极端工况下的稳定性行驶。
Vehicle transverse and longitudinal coupling stability control method based on T-S fuzzy
一种基于T-S模糊的车辆横纵向耦合稳定性控制方法
2020-12-08
Patent
Electronic Resource
Chinese
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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