The invention provides an intelligent steer-by-wire vehicle robust stability control method which comprises the following steps: firstly, establishing a two-degree-of-freedom vehicle dynamics model, and solving a yaw velocity and a side slip angle of a vehicle under a steady-state working condition; then, a control target of vehicle stability control is further modified, and a reference model of robust controller design is established based on the two-degree-of-freedom vehicle dynamics model; and finally, designing and solving a steer-by-wire vehicle robust stability controller based on # imgabs0 # mixed sensitivity control for performing steer-by-wire vehicle robust stability control. According to the method, the robust stability and trajectory tracking performance of the intelligent steer-by-wire vehicle can be effectively improved.
本发明提出一种智能线控转向车辆鲁棒稳定性控制方法,首先,建立二自由度车辆动力学模型,求解稳态工况下车辆的横摆角速度和质心侧偏角;然后,对车辆稳定性控制的控制目标进一步修改,并基于二自由度车辆动力学模型建立鲁棒控制器设计的参考模型;最后,设计并求解基于#imgabs0#混合灵敏度控制的线控转向车辆鲁棒稳定性控制器,用于进行线控转向车辆鲁棒稳定性控制。本发明方法可以有效提升智能线控转向车辆的鲁棒稳定性以及轨迹跟踪性能。
Intelligent steer-by-wire vehicle robust stability control method
一种智能线控转向车辆鲁棒稳定性控制方法
2025-03-21
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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