The invention discloses a second-order sliding mode anti-collision control method based on active steering and yawing moment control, belongs to the field of active anti-collision systems (ACAS), andparticularly relates to application of second-order sliding mode control to anti-collision path tracking. The method comprises the following steps: S1, carrying out anti-collision track fitting by utilizing a cubic B spline curve; S2, adopting second-order sliding mode control (SOSMC) based on a Super-twisting algorithm (STA), and on the premise that the path tracking control precision is not reduced, following an expected path as much as possible, and avoiding shaking of the sliding mode control (SMC); and S3, judging the stability of the vehicle by using the beta gamma-phase diagram, and designing a DYC controller by adopting a sliding mode surface and an improved reaching law to improve the lateral stability of the steering capability of the vehicle. Super-twisting second-order slidingmode control is applied to an anti-collision system coordinated by active steering control (AFS) and direct yawing moment control (DYC), and the problems that in the anti-collision system, path tracking real-time performance and instability of a vehicle are poor, and parameters are prone to external interference are mainly solved.
本发明公开一种基于主动转向和横摆力矩控制的二阶滑模防撞控制方法,属于主动防撞系统(ACAS)领域,尤其涉及二阶滑模控制在防撞路径跟踪上的应用。包括以下步骤:S1、利用三次B样条曲线进行防撞轨迹拟合;S2、通过采用基于Super‑twisting算法(STA)的二阶滑模控制(SOSMC),在不降低路径跟踪控制精度的前提下,尽可能地遵循期望的路径,并避免滑模控制(SMC)的抖动;S3、用β‑γ相位图判断车辆的稳定性,采用滑模面和改进的趋近律来设计DYC控制器,提高汽车转向能力侧向稳定性。本发明将Super‑twisting二阶滑模控制运用到主动转向控制(AFS)和直接横摆力矩控制(DYC)协调的防撞系统中,主要解决了防撞系统中路径跟踪实时性和车辆的不稳定性,以及参数易受外部干扰等问题。
Second-order sliding mode anti-collision control method based on active steering and yawing moment control
一种基于主动转向和横摆力矩控制的二阶滑模防撞控制方法
2021-01-08
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 |
European Patent Office | 2023
|European Patent Office | 2022
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