The invention discloses an automobile transverse stability control method based on nonsingular terminal sliding mode control. Comprising the steps of obtaining key factors influencing the stability of a vehicle, obtaining threshold values of the yaw velocity and the side slip angle, obtaining the optimal additional yaw moment, obtaining the final additional yaw moment, designing an optimal four-wheel torque distribution algorithm, carrying out loading application and the like. The method has the beneficial effects that by completing modeling of vehicle dynamics, construction of a whole vehicle transverse dynamics system control model is completed on the basis, two yawing moments are solved through a nonsingular terminal sliding mode control algorithm on the basis of deviation between actual values and reference values of the yawing velocity and the side slip angle, and the stability of the whole vehicle transverse dynamics system control model is improved. Carrying out self-adaptive distribution on the two by utilizing a particle swarm algorithm to obtain a final yaw moment; finally, a simple and reliable optimal torque distribution algorithm is established to calculate the real-time four-wheel optimal torque, and the transverse stability performance of the intelligent automobile under the special driving working condition is improved.
本发明公开了一种基于非奇异终端滑模控制的汽车横向稳定性控制方法,包括获取影响车辆稳定性的关键因素、获取横摆角速度和质心侧偏角的阈值、获取最优附加横摆力矩、获取最终附加横摆力矩、设计最优四轮转矩分配算法、装车应用等步骤。有益效果:本发明通过完成车辆动力学的建模,在此基础上完成了整车横向动力学系统控制模型的构建,基于横摆角速度和质心侧偏角实际值与参考值的偏差,通过非奇异终端滑模控制算法求解得到两个横摆力矩,并利用粒子群算法对两者进行自适应分配得到最终横摆力矩;最终,建立了一种简洁可靠的最优转矩分配算法计算出实时的四轮最优转矩,提高在特殊行驶工况下智能汽车的横向稳定性能。
Automobile transverse stability control method based on nonsingular terminal sliding mode control
基于非奇异终端滑模控制的汽车横向稳定性控制方法
2022-07-22
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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