The invention discloses a yaw moment calculation and distribution method based on vehicle comprehensive stability, and belongs to the field of vehicle stability control. Aiming at the comprehensive stability of vehicle control, transverse direction and roll, three different reference yaw velocity are provided, a target yaw velocity is weighted and designed, a two-degree-of-freedom model is adopted to design a yaw velocity controller based on a sliding mode control theory, required yaw moment is calculated, and a method based on optimization is adopted to carry out stress distribution on tire force, so that the stability of the vehicle control, transverse direction and roll is improved. A cost function is established, longitudinal force needed by PID control calculation is used for controlling the target vehicle speed, meanwhile, the target yawing moment provided by feedback compensation and differential braking and the physical limit of road friction serve as constraint conditions, the longitudinal force of a tire is converted into driving or braking torque, the transverse force of the tire is converted into a steering angle, and the steering angle of the tire is controlled. And the dynamic stability of vehicle movement is met.
本发明公开了基于车辆综合稳定性的横摆力矩计算及分配方法,属于车辆稳定性控制领域。针对于车辆操纵、橫向和侧倾的综合稳定性,提出三种不同的参考横摆角速度并加权设计目标横摆角速度,采用二自由度模型基于滑模控制理论设计了横摆角速度控制器,计算所需横摆力矩,并采用基于优化的方法对轮胎力进行受力分配,建立成本函数,利用PID控制计算所需的纵向力进行目标车速的控制,同时将反馈补偿、差动制动提供的目标横摆力矩以及路面摩擦的物理极限作为约束条件,则将轮胎的纵向力转化为驱动或制动扭矩、轮胎的横向力转化为转向角,满足车辆运动的动力学稳定性。
Yawing moment calculation and distribution method based on vehicle comprehensive stability
基于车辆综合稳定性的横摆力矩计算及分配方法
2024-05-28
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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