基于自适应滑模控制的后桥转矩矢量控制

D. V. Thang Truong, M. Meywerk, W. Tomaske
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引用次数: 11

摘要

主动底盘控制系统在汽车工业中得到了越来越多的发展和应用,以提高车辆从正常到关键驾驶情况下的整体安全性和舒适性。这些系统如电子稳定程序(ESP)、车辆动态控制(VDC)、直接偏航力矩控制(DYC)、牵引控制系统(TCS)在其中发挥着最重要的作用,但它们都是基于制动的系统。这些系统的缺点是在加速过程中会造成能量损失,而扭矩矢量系统可以在转弯或加速过程中不减速的情况下提高驾驶稳定性。根据参考偏航率和侧滑角计算出基于期望偏航力矩的额外校正力矩,然后应用于左后轮和右后轮。本文在自适应滑模控制(SMC)的基础上,提出了一种力矩矢量控制器,该控制器由横摆角速度和车身侧滑角的实际和参考信号的误差组成组合滑动面,并提出了自适应增益控制律。通过Matlab®/Simulink®和Carsim®的联合仿真验证了该方法的有效性。仿真结果表明了该系统的有效性,整体上提高了车辆的稳定性和驾驶性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Torque vectoring for rear axle using Adaptive Sliding Mode Control
Active chassis control systems have been developed and applied increasingly in the automotive industry to improve vehicle global safety and comfort from normal to critical driving situations. These systems like Electronic Stability Program (ESP), Vehicle Dynamic Control (VDC), Direct Yaw moment Control (DYC), Traction Control System (TCS) play the most important role therein but they are all braked based systems. The weakness of these s is to cause energy loss during acceleration, whereas Torque Vectoring System could improve the driving stability without deceleration during cornering or acceleration. An additionally corrective torque based on desired yaw moment is computed from reference yaw rate and sideslip angle and then applied to the left and the right rear wheels. In this paper, a Torque Vectoring Controller on the basis of an Adaptive Sliding Mode Control (SMC) in which a combined sliding surface derived from the error of actual and reference signals of both yaw rate and body sideslip angle and an adaptive gain control law are proposed. The proposed approach is verified by the co-simulations of Matlab®/Simulink® and Carsim®. Simulation results demonstrate the effectiveness of the system and the overall enhancement in vehicle's stability and drivability.
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