The invention relates to a vehicle stability sliding mode control method based on an active front steering system, and the method comprises the following steps: firstly constructing a transverse dynamic model of a vehicle, and then obtaining a vehicle body sideslip angle and a yaw rate of the vehicle in a steady state based on the transverse dynamic model; secondly, first-order inertia delay is introduced into a sideslip angle and a yaw rate of a vehicle body in a steady state of the vehicle, an expected value state equation of the vehicle is obtained, an error of a state space of the vehicle is calculated, and a state space equation of an active front steering system of the vehicle and an expression equation of a switching surface of the vehicle are obtained; further, acquiring a switch curved surface when the automobile performs sliding mode motion, and setting an index reaching law as a reaching law of sliding mode control to obtain a corresponding control law; and finally, obtaining the working angle of the active front steering system of the automobile according to the control law. According to the method, the control operation is reduced, and the control efficiency of the active front steering system of the automobile is effectively improved.
本发明涉及一种基于主动前转向系统的车辆稳定性滑模控制方法,包括以下步骤:首先通过构建汽车的横向动力学模型,然后基于所述横向动力学模型获取汽车的稳态时的车身侧滑角以及偏航率;其次对汽车的稳态时的车身侧滑角以及偏航率引入一阶惯性延迟,获取所述汽车的期望值状态方程,计算所述汽车的状态空间的误差,得到述汽车的主动前转向系统的状态空间方程以及所述汽车的切换面的表达方程;进一步地,获取汽车进行滑模运动时的开关曲面,设置指数趋近律为滑模控制的趋近律,得到对应的控制律;最后根据所述控制律得到汽车的主动前转向系统的工作角度。本发明所述的方法减少了控制操作,有效地提高了汽车的主动前转向系统的控制效率。
Vehicle stability sliding mode control method based on active front steering system
一种基于主动前转向系统的车辆稳定性滑模控制方法
2024-06-21
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 | 2024
|SAE Technical Papers | 2018
|British Library Conference Proceedings | 2018
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