The invention discloses a vehicle stability control method based on inversion active disturbance rejection, and provides the vehicle stability control method based on inversion active disturbance rejection to solve the problems that an existing control strategy is sensitive to external disturbance, excessively depends on modeling precision, is large in calculation load and the like. According to the method, an active rear wheel steering (ARS) controller and a direct yaw moment (DYC) controller are designed through errors between a side slip angle and an ideal value and errors between a yaw velocity and an ideal value on the basis of a two-degree-of-freedom vehicle dynamics model and an inversion auto-disturbance rejection (BADRC) theory, and meanwhile, in order to improve the anti-interference performance and the control precision of the controllers, a nonlinear expansion observer thought is utilized, so that the anti-interference performance of the controllers is improved. The variable of the state equation is expanded into a new unknown quantity, and the dependence on the modeling precision is reduced, so that errors caused by modeling can be avoided, and the interference of other unknown items in the vehicle movement process can be avoided.
本发明公开了一种基于反演自抗扰的车辆稳定性控制方法,针对现有控制策略存在对外界扰动较为敏感,过于依赖建模精度以及计算负荷大等问题,本发明提供了一种基于反演自抗扰的车辆稳定性控制方法。该方法基于二自由度车辆动力学模型,基于反演自抗扰(BADRC)理论,通过质心侧偏角和横摆角速度与理想值的误差分别设计了主动后轮转向(ARS)和直接横摆力矩(DYC)控制器,同时为了提高控制器的抗干扰性和控制精度,利用非线性扩张观测器思想,将状态方程的变量扩张成新的未知量,减少对建模精度的依赖,因而可以避免因建模带来的误差,以及车辆运动过程中存在的其他未知项的干扰。
Vehicle stability control method based on inversion active disturbance rejection
一种基于反演自抗扰的车辆稳定性控制方法
2024-09-03
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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