The invention discloses a vehicle stability control method based on segmented affine identification tire sliding mode control, which comprises a tire longitudinal sliding lateral deviation characteristic experiment. The method comprises the steps of obtaining experimental data of a nonlinear relation between tire longitudinal force and lateral force and tire operation parameters, building a tire longitudinal sliding and lateral deviation segmented affine identification model, building a vehicle transverse dynamic system segmented affine mathematical model, obtaining final additional yawing moment, designing an optimal four-wheel torque distribution algorithm, and obtaining the tire longitudinal sliding and lateral deviation identification model. And obtaining real-time optimal torques of four wheels, loading and applying and the like. The method has the beneficial effects that the sectional affine identification method is adopted to model the tire longitudinal sliding lateral deviation mechanical characteristics, and the global fast terminal sliding mode control strategy is adopted to comprehensively consider each instability factor to calculate the optimal additional yaw moment required by the current vehicle; the optimal torque required by the four wheels in real time is obtained by taking equality constraints into affine of a target function, and the transverse stability and safety of the electric vehicle under the special driving working condition are improved under the special driving working condition.

    本发明公开了一种基于分段仿射辨识轮胎滑模控制的车辆稳定性控制方法,包括轮胎纵滑侧偏特性实验,获得轮胎纵向力和侧向力与轮胎运行参数之间非线性关系的实验数据、构建轮胎的纵滑侧偏分段仿射辨识模型、构建车辆横向动力学系统分段仿射数学模型、获取最终附加横摆力矩、设计最优四轮转矩分配算法,得到四个车轮实时最优转矩、装车应用等步骤。有益效果:本发明采用分段仿射辨识方法对轮胎纵滑侧偏力学特性进行建模,并采用全局快速终端滑模控制策略综合考虑各个失稳因素计算出当前车辆所需最优附加横摆力矩,利用等式约束带入目标函数的仿射得到四个车轮实时所需最优转矩,特殊行驶工况下提高电动汽车在特殊行驶工况下的横向稳定性和安全性。


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    Title :

    Vehicle stability control method based on segmented affine identification tire sliding mode control


    Additional title:

    基于分段仿射辨识轮胎滑模控制的车辆稳定性控制方法


    Contributors:
    SUN XIAOQIANG (author) / WANG YULIN (author) / CAI YINGFENG (author) / CHEN LONG (author)

    Publication date :

    2022-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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    Kwak, Byunghak / Park, Youngjin | SAE Technical Papers | 2001