The invention discloses a stability control method and device suitable for drive-by-wire front wheel steering, and provides a variable-angle transmission ratio design scheme on the basis that a yaw velocity gain and a lateral acceleration gain are not changed, smooth processing is carried out on an angle transmission ratio curve obtained through design by utilizing local weighted regression and a spline interpolation method, and the stability of a steering system is improved. And continuity and stability of a transmission ratio curve are ensured. The method comprises the following steps: subtracting the collected yaw velocity and lateral acceleration of a vehicle from the ideal yaw velocity and lateral acceleration to obtain the error of the yaw velocity and lateral acceleration, calculating an additional front wheel steering angle as an initial value by using a linear quadratic regulator (LQR) controller, and then performing rolling optimization under a model predictive control (MPC) frame to obtain a rolling optimization result. LQR output serves as initial reference, and final control input is obtained through optimization. By means of the method, the yaw velocity error and the lateral acceleration error of the vehicle can be effectively controlled, and therefore the stability and the control performance of the vehicle are improved.
本发明公开了一种适用于线控前轮转向的稳定性控制方法及装置,以横摆角速度增益和侧向加速度增益不变为基础,提出了一种变角传动比设计方案,利用局部加权回归和样条插值法对设计得到的角传动比曲线进行平滑处理,确保传动比曲线的连续性和稳定性。将采集到的车辆横摆角速度、侧向加速度和理想横摆角速度、侧向加速度作差,得到横摆角速度和侧向加速度误差,利用线性二次型调节器(LQR)控制器计算附加前轮转角作为初始值,然后在模型预测控制(MPC)框架下进行滚动优化,将LQR输出作为初始参考,优化得到最终控制输入。通过这种方法,车辆的横摆角速度误差和侧向加速度误差可以得到有效控制,从而提高车辆的稳定性和操控性能。
Stability control method and device suitable for drive-by-wire front wheel steering
一种适用于线控前轮转向的稳定性控制方法及装置
2024-11-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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