The invention discloses a vehicle stability control method based on a fuzzy adaptive second-order sliding mode, and relates to the field of electric vehicle direct yawing moment control. A backstepping method and a Lyapunov theory are combined to design a second-order sliding mode controller, so that an additional yaw moment is obtained, lateral and yaw interference and the influence of uncertainty on a vehicle system are inhibited by designing a fuzzy adaptive law, and the value of a disturbance boundary does not need to be determined any more. The method comprises the following steps: 1, establishing an ideal linear two-degree-of-freedom model of a 2, designing a first-order sliding mode controller; 3, designing a second-order sliding mode controller on the basis of the step 2; 4, designing a self-adaptive fuzzy second-order sliding mode controller on the basis of the step 3; and step 5, distributing the calculated additional yawing moment to each wheel to realize vehicle stability control. According to the method, better control performance is achieved, the vehicle is kept stable under the limiting working condition, convergence can be achieved within finite time, and meanwhile the chattering phenomenon is restrained.
本发明公开了一种基于模糊自适应二阶滑模的车辆稳定性控制方法,涉及电动汽车直接横摆力矩控制领域。将反步法和李雅普诺夫理论结合起来设计二阶滑模控制器,从而获得附加横摆力矩,并通过设计模糊自适应律来抑制侧向和横摆干扰以及不确定性对车辆系统的影响,不再需要确定扰动边界的值。步骤1、建立车辆理想的线性二自由度模型;步骤2、设计一阶滑模控制器;步骤3、在步骤2的基础上设计二阶滑模控制器;步骤4、在步骤3的基础上设计自适应模糊二阶滑模控制器;步骤5、将计算的附加横摆力矩分配到各个轮子上实现车辆稳定性控制。该方法有更好的控制性能,使车辆在极限工况下保持稳定,能在有限时间内收敛,同时抑制了抖振现象。
Vehicle stability control method based on fuzzy adaptive second-order sliding mode
一种基于模糊自适应二阶滑模的车辆稳定性控制方法
2024-11-08
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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