The invention discloses a direct yawing moment control and active steering integrated control strategy for a multi-axle vehicle, and aims to realize efficient vehicle stability control of the multi-axle vehicle under different road conditions and improve the driving safety, maneuverability and comfort of the multi-axle vehicle. The method specifically comprises the following steps: (1) establishing a two-degree-of-freedom multi-axle vehicle dynamics model considering transverse and yawing motions; (2) considering the influence of the road adhesion coefficient on the coordination effect, and designing a fuzzy controller for coordinating direct yawing moment control and active front wheel steering; and (3) taking a coordination result of the fuzzy controller as input, designing a yaw stability integrated controller based on adaptive model predictive control, and calculating an additional front wheel steering angle and a direct yaw moment for ensuring stable driving of the vehicle. According to the method, integrated control over the yaw stability of the multi-axle vehicle is achieved by coordinating the DYC and the AFS, the influence of road adhesion on the coordinating effect is considered, and finally stable and safe driving of the multi-axle vehicle under different road conditions is achieved.
本发明公开了一种用于多轴车的直接横摆力矩控制与主动转向集成控制策略,旨在实现多轴车在不同道路条件下高效的车辆稳定性控制,提升多轴车驾驶安全性、操纵性与舒适性,具体包括以下步骤:(1)建立考虑横向、横摆运动的二自由度多轴车动力学模型;(2)考虑路面附着系数对协调效果的影响,设计用于协调直接横摆力矩控制和主动前轮转向的模糊控制器;(3)将模糊控制器的协调结果作为输入,设计基于自适应模型预测控制的横摆稳定性集成控制器,计算保证车辆稳定行驶的附加前轮转角及直接横摆力矩。本发明通过协调DYC与AFS以实现多轴车横摆稳定性集成控制,并考虑路面附着对协调效果的影响,最终实现多轴车在不同道路条件下的稳定、安全行驶。
Direct yaw moment control and active steering integrated control strategy for multi-axle vehicle
用于多轴车的直接横摆力矩控制与主动转向集成控制策略
2025-02-14
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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