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基于Lyapunov理论提出车辆主动前轮转向与直接横摆力矩的集成控制方法,在二自由度车辆模型的基础上设计了自适应控制器,对轮胎刚度进行自适应估计以补偿轮胎侧向力的非线性,基于MATLAB和CarSim软件搭建了车辆闭环仿真模型,在路面上进行了正弦输入仿真试验。仿真结果表明:附着系数为0.8、车速为100km·h~(-1)时,前轴侧向力最大误差为210N,约占前轴实际侧向力的8.1%,后轴侧向力最大误差为296N,约占后轴实际侧向力的8.5%;附着系数为0.3、车速为80km·h~(-1)时,前轴侧向力最大误差为146N,约占前轴实际侧向力的8.5%,后轴侧向力最大误差为142N,约占后轴实际侧向力的9.8%。车辆主动前轮转向与直接横摆力矩集成控制的效果优于主动前轮转向和直接横摆力矩单独控制的效果。
Based on the Lyapunov theory, an integrated control method of vehicle active front wheel steering and direct yaw moment is proposed. Based on two degrees of freedom vehicle model, an adaptive controller is designed to adaptively estimate the tire stiffness to compensate for the tire lateral force Linear, based on MATLAB and CarSim software to build a closed-loop vehicle simulation model, the sinusoidal input simulation test on the road. The simulation results show that when the attachment coefficient is 0.8 and the vehicle speed is 100km · h ~ (-1), the maximum lateral force error of the front axle is 210N, accounting for 8.1% of the actual lateral force of the front axle and the maximum error of the lateral force of the rear axle Is 296N, accounting for about 8.5% of the actual lateral force of the rear axle. When the attachment coefficient is 0.3 and the vehicle speed is 80km · h -1, the maximum lateral force error of the front axle is 146N, which accounts for the actual lateral force of the front axle Of the 8.5%, the maximum axial rear axle error of 142N, accounting for about 9.8% of the actual rear axle force. The effect of integrated active front wheel steering and direct yaw moment control is better than that of active front wheel steering and direct yaw moment alone.