CN102267460B - Vehicle stability control method based on tire vertical loading distribution - Google Patents

Vehicle stability control method based on tire vertical loading distribution Download PDF

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CN102267460B
CN102267460B CN 201110137783 CN201110137783A CN102267460B CN 102267460 B CN102267460 B CN 102267460B CN 201110137783 CN201110137783 CN 201110137783 CN 201110137783 A CN201110137783 A CN 201110137783A CN 102267460 B CN102267460 B CN 102267460B
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vehicle
tire
control
vertical load
state
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CN102267460A (en
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孙涛
徐桂红
柴陵江
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University of Shanghai for Science and Technology
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Abstract

The invention relates to a vehicle stability control method based on tire vertical loading distribution, and the method comprises the following steps: calculating status information and ideal status information of a vehicle by a whole vehicle model and a whole vehicle reference model; and then comparing vehicle information; and regulating and controlling the vehicle loading distribution by virtue of a driving force of a driving hanging bracket according to a complex nonlinear relationship between a vertical load and a tire lateral deviation force, thereby controlling the lateral force nonlinear distribution of a tire, providing a compensated yawing moment to control the yawing motion of the vehicle, and finally achieving the purposes of restraining the side slipping of the vehicle and promoting the vehicle stability. The invention provides a new solution for controlling the stability of the vehicle.

Description

A kind of vehicle stability control method that distributes based on the tire vertical load
Technical field
The present invention relates to a kind of vehicle control technology, particularly a kind of vehicle stability control method that distributes based on the tire vertical load.
Background technology
Vehicle stability control is the focus of vehicle active safety research always, generally speaking, can come control vehicle stability of motion to the pro-active intervention of Vehicular yaw motion and inclination campaign by brake system or steering swivel system, reach the purpose that improves active safety.
On the whole, the vehicle stability control algorithm that has two classes at present in the car chassis electric-control system, one class is to suppress the tire sideslip by the weaving of steering swivel system adjusting tire cornering power control vehicle to reach raising vehicle stability purpose, promptly by adjusting that tire cornering power realizes that side slip angle minimizes and the transient response characteristic of good yaw velocity, thereby proofread and correct the oversteer trend of vehicle ' or too much understeer characteristics, guarantee the attitude and the stability of motion of vehicle '.As four-wheel steering system 4WS and active front steering swivel system AFS, another kind of is to control by the distribution of longitudinal force of tire (lock torque or drive torque) to produce the correction yaw moment of stablizing vehicle movement, realization is to vehicle stability control, as based on the electronic stability controlling system ESP of brakig force distribution and vehicle stability controlled system VSC etc.
; aforesaid control policy all is that the weaving of horizontal force (being the lateral deviation power and the longitudinal force of the tire) control vehicle by tire suppresses the unstability that defective steering stabilizer causes, does not consider the effect of tire vertical force and to the non-linear coupled relation of side force.
Summary of the invention
The present invention be directed to the problem of the discretionary security that improves vehicle, a kind of vehicle stability control method that distributes based on the tire vertical load has been proposed, nonlinear relationship according to vertical load and tire cornering power complexity, vertical load by active suspension active force regulation and control vehicle distributes, and then the non-linear distribution of side force of control tire, with the weaving that the yaw moment that a compensation is provided comes control vehicle, finally reach and suppress the purpose that defective steering stabilizer improves vehicle stability.
Technical scheme of the present invention is: a kind of vehicle stability control method that distributes based on the tire vertical load, chaufeur provides and turns to input, by onboard sensor to the monitoring of car status information to estimate the state of motion of vehicle parameter information, the car load reference model estimates vehicle state information and perfect condition information, comparison by actual motion status information and perfect condition information, the tracking error of vehicle is input to controller, obtain the active force feedback of suspension by pid control algorithm, after vehicle is accepted controlled reset, the vertical load of vehicle tyre is redistributed, and produces one and proofreaies and correct the sideslip that yaw moment suppresses vehicle.
Described car load reference model adopts the single-track vehicle model of two-freedom to estimate desirable vehicle side velocity and yaw velocity, with reference to the equation of state of auto model is:
Figure 2011101377834100002DEST_PATH_IMAGE002
In the formula,
Figure 2011101377834100002DEST_PATH_IMAGE004
With
Figure 2011101377834100002DEST_PATH_IMAGE006
Be respectively state variable and control input,
Figure 2011101377834100002DEST_PATH_IMAGE008
With
Figure 2011101377834100002DEST_PATH_IMAGE010
Be respectively state matrix and control input matrix, be defined as follows:
Figure 2011101377834100002DEST_PATH_IMAGE012
,
Figure 2011101377834100002DEST_PATH_IMAGE014
Figure 2011101377834100002DEST_PATH_IMAGE016
，
Figure 2011101377834100002DEST_PATH_IMAGE018
In the formula,
Figure 2011101377834100002DEST_PATH_IMAGE020
,
Figure 2011101377834100002DEST_PATH_IMAGE022
,
Figure 2011101377834100002DEST_PATH_IMAGE024
With
Figure 2011101377834100002DEST_PATH_IMAGE026
Be respectively body side drift angle, yaw velocity, front-wheel steering input and longitudinal velocity,
Figure 2011101377834100002DEST_PATH_IMAGE028
With
Figure 2011101377834100002DEST_PATH_IMAGE030
Be respectively complete vehicle quality and yaw rotor inertia,
Figure 2011101377834100002DEST_PATH_IMAGE032
With Be respectively the distance of axletree before and after barycenter arrives,
Figure 2011101377834100002DEST_PATH_IMAGE036
With
Figure 2011101377834100002DEST_PATH_IMAGE038
The cornering stiffness of tire before and after being respectively.
The interrelation of the vertical load of described vehicle tyre is as follows:
Figure 2011101377834100002DEST_PATH_IMAGE040
In the formula,
Figure 2011101377834100002DEST_PATH_IMAGE042
Be the vertical load of four tires,
Figure 2011101377834100002DEST_PATH_IMAGE044
,
Figure 2011101377834100002DEST_PATH_IMAGE046
With
Figure 2011101377834100002DEST_PATH_IMAGE048
Be respectively lateral acceleration, vehicle roll angle and the vehicle body barycenter of vehicle vertical distance to roll center,
Figure 2011101377834100002DEST_PATH_IMAGE050
Be the active force of left front active suspension, the active force of control suspension
Figure 760586DEST_PATH_IMAGE050
, the vertical load of regulating and control 4 tires exactly distributes.
Beneficial effect of the present invention is: the present invention is based on the vehicle stability control method that the tire vertical load distributes, regulate and control the control policy of Vehicular yaw motion by suspension active force control tire vertical load, for the Stability Control of vehicle provides a kind of new solution.
Description of drawings
Fig. 1 is the coupled relation figure of the pure lateral deviation operating mode of the present invention tire vertical load and lateral deviation power;
Fig. 2 is the correction yaw moment figure of active force regulation and control of the present invention;
Fig. 3 is control policy figure of the present invention;
Fig. 4 turns to the left front suspension active force control of step output map for the present invention;
Fig. 5 is the correction yaw moment figure of step test active force of the present invention control;
Fig. 6 is step test yaw velocity time domain response figure of the present invention;
Fig. 7 is step test vehicle body sideslip angle time domain response figure of the present invention.
The specific embodiment
The present invention adopts the magic tire model under the pure lateral deviation operating mode, coupled relation such as Fig. 1 of its vertical load and lateral deviation power, and this figure shows: along with vertical tyre load
Figure DEST_PATH_IMAGE052
Increase, tire provides lateral deviation power
Figure DEST_PATH_IMAGE054
Slope diminish gradually.Utilize the vertical coupling mechanism with side direction of this tire, can distribute by the vertical load that the active suspension control effort is optimized tire, then front and back vertical load transfer can make before and after tire all to produce a lateral deviation power poor, form a vehicle stabilization required yaw moment that travels then, as shown in Figure 2
Figure DEST_PATH_IMAGE056
Be the speed of vehicle, Be the vehicle body side slip angle,
Figure DEST_PATH_IMAGE058
With
Figure DEST_PATH_IMAGE060
Be respectively the vertical and side direction coordinate axle of chassis system of axes, Be the vehicle barycenter, if the load increment symbol of tire 1 and 4 for just, among Fig. 2, plus sige is represented tire vertical load increment sign for just, and minus sign represents that tire vertical load increment sign for negative, then produces an anti-clockwise yaw moment
Figure DEST_PATH_IMAGE062
, the oversteer trend of increase vehicle; Otherwise,, increase the understeering trend of vehicle if the load increment symbol of tire 1 and 4 then produces a clockwise yaw moment for negative.
The realization of this control policy has some limiting conditions, reasonably avoids these restraint of labour zones and can effectively improve its work potential, shows as Fig. 1: along with tyre slip angle
Figure DEST_PATH_IMAGE064
Increase, tire is vertical to be tending towards linearization gradually with non-linear coupled relation side force, mean: when the giant tyre sideslip angle, the cornering stiffness of tire is tending towards normal value, the suspension active force may not produce enough yaw moments so that vehicle stabilization travels, and can only come the auxiliary lateral stability that improves vehicle by active suspension control.At vertical load
Figure 352870DEST_PATH_IMAGE052
At 0-2[KN] and 6-7[KN] the zone, tire is vertical also to be tending towards linearization gradually with non-linear coupled relation side force, therefore, the control output of suspension active force should be at the non-linear apparent in view 2-6[KN of tire] regional work, control effect preferably to obtain, reduce the irregular wear of tire simultaneously.
Even because these limiting conditions, the correction yaw moment that the vertical load regulation and control provide can only to a certain degree suppress sideslip, but bring it into car load integrated hierarchy of control, with other vehicle stability controlled system co-ordination, the work potential of digging vehicle electron steering subsystem merits attention to the contribution of the riding stability of vehicle.
Fig. 3 is the piece figure implementation structure of design-calculated control thought of the present invention: at first, chaufeur provides and turns to input, whole vehicle model and car load reference model estimate vehicle state information and perfect condition information, whether the vehicle of relatively distinguishing by information of vehicles is in stabilized conditions then, the tracking error of vehicle is input to controller, obtain the active force feedback of suspension by corresponding pid control algorithm, after vehicle is accepted controlled reset, the vertical load of vehicle tyre is redistributed, produce one and proofread and correct the sideslip that yaw moment suppresses vehicle, the stability of vehicle is improved.
The present invention realizes two key components of vehicle stability control: the one, the vehicle running state identification module, by onboard sensor to the monitoring of car status information to estimate the state of motion of vehicle parameter information; And desirable status information is estimated by reference model, relatively identifying vehicle and whether play pendulum by actual motion status information and perfect condition information, if detecting vehicle is in unstable region, then the start-up control strategy is realized negative feed-back control.The 2nd, proofread and correct determining and distribution mechanism of yaw moment, for reducing the perfect condition tracking error, the positive yaw moment of high-ranking officers is distributed to four suspension active forces, vertical load by active suspension power control tire distributes, thereby produces the stability of proofreading and correct the motion of yaw moment control vehicle according to the actual motion state of vehicle.
The foundation of car load reference model: in lateral acceleration scope less than 0.4g, the linear auto model of binary single track has handling stability preferably, and driver habit is in this linear maneuvering characteristics, and vehicle also has estimated accuracy preferably in ultimate limit state, so the present invention adopts the single-track vehicle model of two-freedom to estimate desirable vehicle side velocity and yaw velocity, compare by these two reference state variablees and corresponding vehicle state, to estimate the unstable state error of vehicle.Equation of state with reference to auto model is:
Figure 551770DEST_PATH_IMAGE002
(1) in the formula,
Figure 282965DEST_PATH_IMAGE004
With
Figure 276329DEST_PATH_IMAGE006
Be respectively state variable and control input,
Figure 30659DEST_PATH_IMAGE008
With
Figure 829987DEST_PATH_IMAGE010
Be respectively state matrix and control input matrix, be defined as follows:
Figure 353373DEST_PATH_IMAGE012
,
Figure 783217DEST_PATH_IMAGE014
Figure 87159DEST_PATH_IMAGE016
，
In the formula,
Figure 5754DEST_PATH_IMAGE020
,
Figure 901772DEST_PATH_IMAGE022
,
Figure 630694DEST_PATH_IMAGE024
With
Figure 709508DEST_PATH_IMAGE026
Be respectively body side drift angle, yaw velocity, front-wheel steering input and longitudinal velocity,
Figure 269803DEST_PATH_IMAGE028
With
Figure 41449DEST_PATH_IMAGE030
Be respectively complete vehicle quality and yaw rotor inertia,
Figure 992088DEST_PATH_IMAGE032
With
Figure 874593DEST_PATH_IMAGE034
Be respectively the distance of axletree before and after barycenter arrives,
Figure 289394DEST_PATH_IMAGE036
With
Figure 231942DEST_PATH_IMAGE038
The cornering stiffness of tire before and after being respectively.The distribution mechanism of vertical load: the active suspension control effort is by electric motor driven, and the output that comes from driving engine of energy is provided, i.e. active force output is conditional, generally supposes the 1-5% of suspension active force consumption of engine power.Simultaneously, the active force of active suspension can not make the vertical load of tire for negative, promptly keep tire to contact with ground, for the stability that guarantees vehicle does not make the vehicle unstability because of the tire vertical load is too small, the vertical load of restriction tire can not make tire lose with ground and contact.
Regulation and control by the active suspension active force, can regulate and control the distribution of the vertical load of tire, and the distribution of tire vertical load need be satisfied vertical force balance and moment balance, i.e. the control of active force can not destroy vertical equilibrium of forces, inclination and the pitching balance of vehicle.
Ignore the luffing of vehicle, vehicle is in steering procedure, because the lateral acceleration of vehicle body and the inclination effect of vehicle body barycenter, horizontal transfer can take place the vertical load of vehicle, and the load transfer direction is to foreign steamer by interior wheel.The interrelation of vehicle vertical load is as follows:
(2) in the formula,
Figure 152811DEST_PATH_IMAGE042
Be the vertical load of four tires,
Figure 625380DEST_PATH_IMAGE044
,
Figure 738830DEST_PATH_IMAGE046
With
Figure 227842DEST_PATH_IMAGE048
Be respectively lateral acceleration, vehicle roll angle and the vehicle body barycenter of vehicle vertical distance to roll center,
Figure 452150DEST_PATH_IMAGE050
Be the active force of left front active suspension, the active force amplitude of 4 suspensions equates that just the direction of application force is different, and the active suspension control effort direction on the vehicle diagonal line is identical.The active force of control suspension , also just the vertical load of 4 tires of meaning regulation and control distributes.
Fig. 3 has described control policy of the present invention: in the PID design of Controller, and yaw velocity
Figure 860315DEST_PATH_IMAGE022
With the body side drift angle
Figure 272842DEST_PATH_IMAGE020
Be two important state output variables, be used as simultaneously with reference to tracking variable that its tracking error is the input of PID, the controlled variable of regulating PID obtains feedback suspension active force control input.The tracking error role of these two variablees changes to some extent along with driving cycle, so, to the tracking error design weighting factor of these two variablees
Figure DEST_PATH_IMAGE066
With
Figure DEST_PATH_IMAGE068
With the Correction and Control device, the weighting factor that makes tracking error switches to optimal value under another operating mode from the optimal value under a kind of operating mode, thereby the sideslip of vehicle is limited in the acceptable scope all the time.
In order to realize and verify above-mentioned control policy design, certain car is controlled simulation analysis, at first set up the passive whole vehicle model of 9 degree of freedom (the vertically speed of a motor vehicle, the side direction speed of a motor vehicle, yaw acceleration/accel, inclination campaign, 4 wheel and front-wheel rotation) at Matlab/Smulink, carry out modelling verification in the ADAMS/Car module then, on the basis of passive whole vehicle model, add controller, adopting then and turning to step l-G simulation test, steering wheel angle is 60 o, the cycle is 2s, and the steering swivel system transmitting ratio is 30, and the speed of a motor vehicle is 80km/h.
Fig. 4 to 7 turns to the vehicle control effort of step test and the time domain response of state variable.Fig. 4 is left front suspension active controlling force output, can know that by the distribution mechanism (formula 2) of vertical load the tyre load of vehicle distributes.Because the vertical load variable-quantity directional of the near front wheel and off hind wheel is for negative, and the vertical load variable-quantity directional of off front wheel and left rear wheel is for just, make vehicle produce a clockwise correction yaw moment, as shown in Figure 5, thereby increased the understeering trend of vehicle, departed from desirable yaw velocity motion so yaw velocity reduces, as shown in Figure 6, and the more important thing is the sideslip that suppresses the Vehicular turn process to a certain extent, as Fig. 7.
In a word, utilize the suspension active force to distribute the vertical load of tire, proofread and correct yaw moment because of the non-linear coupled relation of tire vertical load and lateral deviation power produces one, and then the weaving of control vehicle to be to suppress defective steering stabilizer, the lateral stability of vehicle is improved.

Claims (1)

1. vehicle stability control method that distributes based on the tire vertical load, it is characterized in that, chaufeur provides and turns to input, by onboard sensor to the monitoring of car status information to estimate the state of motion of vehicle parameter information, the car load reference model estimates vehicle state information and perfect condition information, comparison by actual motion status information and perfect condition information, the tracking error of vehicle is input to controller, obtain the active force feedback of suspension by pid control algorithm, after vehicle is accepted controlled reset, the vertical load of vehicle tyre is redistributed, and produces one and proofreaies and correct the sideslip that yaw moment suppresses vehicle; Described car load reference model adopts the single-track vehicle model of two-freedom to estimate desirable vehicle side velocity and yaw velocity, with reference to the equation of state of auto model is:
Figure 2011101377834100001DEST_PATH_IMAGE002
In the formula, With Be respectively state variable and control input,
Figure DEST_PATH_IMAGE008
With Be respectively state matrix and control input matrix, be defined as follows:
Figure DEST_PATH_IMAGE012
,
Figure DEST_PATH_IMAGE014
Figure DEST_PATH_IMAGE016
，
Figure DEST_PATH_IMAGE018
In the formula,
Figure DEST_PATH_IMAGE020
,
Figure DEST_PATH_IMAGE022
,
Figure DEST_PATH_IMAGE024
With
Figure DEST_PATH_IMAGE026
Be respectively body side drift angle, yaw velocity, front-wheel steering input and longitudinal velocity,
Figure DEST_PATH_IMAGE028
With
Figure DEST_PATH_IMAGE030
Be respectively complete vehicle quality and yaw rotor inertia, With Be respectively the distance of axletree before and after barycenter arrives,
Figure DEST_PATH_IMAGE036
With
Figure DEST_PATH_IMAGE038
The cornering stiffness of tire before and after being respectively; The interrelation of the vertical load of described vehicle tyre is as follows:
Figure DEST_PATH_IMAGE040
In the formula,
Figure DEST_PATH_IMAGE042
Be the vertical load of four tires,
Figure DEST_PATH_IMAGE044
,
Figure DEST_PATH_IMAGE046
With
Figure DEST_PATH_IMAGE048
Be respectively lateral acceleration, vehicle roll angle and the vehicle body barycenter of vehicle vertical distance to roll center,
Figure DEST_PATH_IMAGE050
Be the active force of left front active suspension, the active force of control suspension
Figure 292263DEST_PATH_IMAGE050
, the vertical load of regulating and control 4 tires exactly distributes.
CN 201110137783 2011-05-26 2011-05-26 Vehicle stability control method based on tire vertical loading distribution Expired - Fee Related CN102267460B (en)

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