The invention discloses a rear wheel active steering and braking cooperative control method of an open-loop structure, and relates to the technical field of vehicle motion control. Firstly, a two-degree-of-freedom vehicle dynamics model is established, then a rear wheel steering and braking cooperative controller is designed, and the rear wheel steering and braking cooperative controller comprises an expected yaw rate generator, a rear wheel steering inverse model controller, a rear wheel steering angle characteristic description part, a direct yaw moment inverse model controller, a braking system characteristic limitation part and a braking force distributor, the desired yaw rate generator comprises a steady state part and a transient state part. Characteristics of a rear wheel steering system and a brake system are considered, cooperative control is achieved through mutual complementation of the rear wheel steering system and the brake system, an open-loop structure is adopted, a rear wheel steering angle and brake pressure of each wheel cylinder can be output without using a yaw rate or a side slip angle as a feedback quantity, and a nonlinear vehicle dynamics model is adopted, so that the control precision is improved. And the control stability of the vehicle is enhanced.
一种开环结构的后轮主动转向与制动协同控制方法,涉及车辆运动控制技术领域。首先建立二自由度车辆动力学模型,然后设计后轮转向制动协同控制器,包括期望横摆率产生器、后轮转向逆模型控制器、后轮转向角特性描述、直接横摆力矩逆模型控制器、制动系统特性限制和制动力分配器这六个组成部分,其中,所述期望横摆率产生器包括稳态和瞬态两个部分。其考虑了后轮转向系统与制动系统的特性,通过后轮转向系统与制动系统的相互补充实现了协同控制,采用开环结构,无需横摆率或质心侧偏角做反馈量,即可输出后轮转向角和各轮缸制动压力,采用非线性车辆动力学模型,增强车辆的操控稳定性。
Rear wheel active steering and braking cooperative control method of open-loop structure
一种开环结构的后轮主动转向与制动协同控制方法
2024-11-01
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 |