CN102582617A - Vehicular stability control system based on variable structure theory - Google Patents
Vehicular stability control system based on variable structure theory Download PDFInfo
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- CN102582617A CN102582617A CN2011101787896A CN201110178789A CN102582617A CN 102582617 A CN102582617 A CN 102582617A CN 2011101787896 A CN2011101787896 A CN 2011101787896A CN 201110178789 A CN201110178789 A CN 201110178789A CN 102582617 A CN102582617 A CN 102582617A
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Abstract
The invention belongs to the field of vehicle operation engineering and vehicle control, relates to the variable structure theory, and develops a vehicular stability control method, which aims at the vehicular yawing moment estimation technique and uses the variable structure control method to set up a vehicular stability control model and plan expected responses of the vehicle. The yaw velocity and the slip angle of the vehicle are forced to follow the ideal output of a reference model by generating an active yawing moment, the yawing moment required by vehicle stabilization is generated, and the braking moment and the driving moment can be distributed. The controller is well adaptive to variation of vehicle speeds and road conditions, high in robustness, simple in structure and easy to implement physically, and provides a firm foundation for development of the vehicular stability control system.
Description
Technical field
The invention belongs to apparatus of transport utilization and vehicle control field, it is theoretical to relate to the change structure control, develops a kind of vehicle stability control method; To the pre-estimating technology of vehicle yaw moment, adopt variable structure control method, set up the vehicle stability controlling models; Utilize yaw velocity and side slip angle to implement feedback, produce and stablize the needed yaw moment of vehicle, and then lock torque and drive torque are distributed as state variable; Strong robustness of the present invention; Simple in structure, be easy to physics realization, for the exploitation vehicle stability controlled system provides solid foundation.
Background technology
The thought of vehicle stability control at first appears at the eighties BMW company in last century; BMW company recognized at that time that chaufeur in that the phenomenon of " overreaction " or " slow in reacting " in case of emergency can take place, therefore prevented that this phenomenon from can improve drive safety if can develop a kind of active system.Bosch company and Continental-Teves company have done improvement to this thought, but mainly are based on ABS and ASR.Mercedes company was devoted to the VSC system that development& testing Bosch company provides in 1992; This moment, also existing document proposed to adopt the method for brakig force distribution and deflection angle feed forward control to improve vehicle stability; Ford company at the same time the phase also carried out corresponding research, be called Interactive Vehicle Dynamic (IVD).Companies such as Bosch, BMW, the Toyota commercial vehicle stabilitrak separately that released one after another after nineteen ninety-five.
At present, each big car manufactures of the world has all been carried out the Related product exploitation of stabilitrak, but title has nothing in common with each other.Bosch, Audi company are called Vehicle dynamic stability control system of Study on Vehicle Dynamic Control system (VDC) or electronic stability controlling system Electronic stability program (ESP), and Toyota company is called the vehicle control system Vehicle skid control (VSC) that trackslips.BMW company is called dynamic stability control system Dynamic stability control (DSC).Honda company is called electronic stability controlling system Electronic stability control (ESC), and the target and the implementation method of these control system are basic identical, just difference to some extent on concrete performance requriements.
Variable structure control method appears at the fifties in last century; Form a relatively independent research and divided justice; Become a kind of method of designing of autonomous cruise speed system; Be applicable to linear and NLS, continuously with discrete system, definite and uncertain system, and in actual engineering, applied gradually, like motor and electric system, robot control, missile guidance control, satellite attitude control etc.
The former Russian scholar Utkin and Emelyanov have proposed to become the notion of structure control in the 1950's; Since the eighties in 20th century; Along with developing rapidly of computing machine, great-power electronic switching device and motor technology etc.; Becoming structure control theory and applied research and got into a new stage, is that the nonlinear Control thought that main tool grows up has greatly promoted to become the theoretical development of structure control with the differential geometry.China also has many scholars that variable structure control method has been carried out deep research, and high is the notion that bright academician has at first proposed the convergence rate, and the speed issue that control system is got into diverter surface is studied.
Though variable structure control method has invariability to the parameter perturbation and the external disturbance of system; But also brought the high frequency of controlling quantity to buffet characteristic simultaneously, because in practical application, it is unlimited fast in theory that this high frequency is buffeted; Have no actuating unit to realize; And this specific character is easy to the not modeling characteristic of activating system, thereby influences the controller performance of system, thereby chattering phenomenon has brought difficulty for the application of change structure control in real system.But eliminated the buffeting characteristic that becomes structure control, also just eliminated the invariability of change structure control, thereby can only weaken the chattering phenomenon that becomes structure control disturbance.
A lot of to the research of vehicle stability control both at home and abroad at present; Most application of optimal control theory and neural network control theory; The former depends on experience at the weight coefficient setting in control law, and the control effect is responsive for the variation of weight coefficient, and the latter can only take the method soundd out at present; Can't provide the proof of strictness theoretically to the stability and convergence of control system, and the physics realization of controller is very complicated.Therefore adopt model reference to become structural theory and carry out the research of vehicle stability controlled system, can overcome above-mentioned shortcoming and defect.
Summary of the invention
The objective of the invention is in order to overcome the deficiency of above-mentioned existing research; Provide a kind of based on the vehicle stability controlled system that becomes structural theory; Set up the vehicle stability controlling models, utilize yaw velocity and side slip angle to implement feedback, produce and stablize the needed yaw moment of vehicle as state variable; And then lock torque and drive torque distributed, for the exploitation vehicle stability controlled system provides solid foundation.
The present invention has adopted following technical scheme:
Based on the vehicle stability controlled system that becomes structural theory, be the basis to become the structure control theory, to the pre-estimating technology of vehicle yaw moment; Set up the vehicle stability controlling models, utilize yaw velocity and side slip angle to implement feedback, produce and stablize the needed yaw moment of vehicle as state variable; And then lock torque and drive torque distributed; Strong robustness, simple in structure, be easy to physics realization.
Described based on the vehicle stability controlled system that becomes structural theory; It is characterized in that; Reference model can be explicit, also can be implicit expression, under the explicit situation; Reference model is a component part of control system, and the desired characteristic of control system is significantly stipulated by the dynamic response of reference model state; Under the implicit expression situation, reference model only is the calculating that is used as control law, and not obvious appearing in the control system.
Described model reference becomes structure vehicle stability controlling Design; Design becomes the output that the structure control rule makes the output model reference following of controlled object; And satisfy unvarying condition, model reference is become the change structure control rule that the structure control rule is converted into general second-order model.
The analysis of simulation result of described vehicle stability controlled system, design structure-changeable self-adaptive control system makes the output of the output tracking reference model of controlled object, and this controlled object is that a band disturbs input model, and model parameter has certain perturbation.System state variables x
1, x
2Exist at the same time under parameter perturbation and the outer condition of disturbing, still very desirable realization to reference model state variable x
M1, x
M2Tracking, show that this control system has extremely strong robustness, the algorithm simple, intuitive is convenient to practical applications.
The Reference Model Design of described vehicle stability controlled system; Reference Model Design is that the different speed of a motor vehicle and the following vehicles of front wheel angle input can obtain good yaw angular response and less sideslip angle response, according to two degrees of freedom vehicle dynamics equation of state, and the reference model of design same order; The speed of a motor vehicle is high more; The steady-state value of the expectation yaw velocity that reference model provides is more little, and the side slip angle response then approaches zero, and the description references model has been planned very desirable vehicle response.
The design of Controller of described vehicle stability controlled system, this control law have been considered the A battle array with the variation of the speed of a motor vehicle and with reference to the influence of input front wheel angle, thereby this controller can adapt to the variation of the speed of a motor vehicle, have strong robustness.
This change structure control rule of the stability analysis of described vehicle stability controlled system satisfies stability condition, satisfies the existence and the accessibility condition of sliding formwork motion simultaneously, eliminates to a certain extent and buffets.
Effective result of the present invention develops a kind of vehicle stability controlled system, adopts variable structure control method, utilizes yaw velocity and side slip angle to implement feedback as state variable; Produce and stablize the needed yaw moment of vehicle; And then lock torque and drive torque distributed, strong robustness of the present invention, simple in structure; Be easy to physics realization, for the exploitation vehicle stability controlled system provides solid foundation.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further;
Fig. 1 is the typical structure of model reference vehicle stability controlled system;
Fig. 2 is simulation result---the state variable x of model reference vehicle stability controlled system example
1, x
M1
Fig. 3 is simulation result---the state variable x of model reference vehicle stability controlled system example
2, x
M2
Fig. 4 is simulation result---the switching function of model reference vehicle stability controlled system example;
Fig. 5 is the simulation result of model reference vehicle stability controlled system example---the control incoming signal;
Fig. 6 is the yaw velocity response of reference model under the different speed of a motor vehicle;
Fig. 7 is the side slip angle response of reference model under the different speed of a motor vehicle;
Fig. 8 is a model reference vehicle stability controlled system constructional drawing.
The specific embodiment
As shown in Figure 1; Structure for the model reference vehicle stability controlled system; Reference model can be explicit, also can be implicit expression, under the explicit situation; Reference model is a component part of control system, and the desired characteristic of control system is significantly stipulated by the dynamic response of reference model state; Under the implicit expression situation, reference model only is the calculating that is used as control law, and not obvious appearing in the control system.
Fig. 2 to Fig. 5 is the concrete simulation result of model reference vehicle stability controlled system, can obviously find out system state variables x
1, x
2Exist at the same time under parameter perturbation and the outer condition of disturbing, still very desirable realization to reference model state variable x
M1, x
M2Tracking, show that this control system has extremely strong robustness, the algorithm simple, intuitive is convenient to practical applications.
Under the different speed of a motor vehicle; The yaw velocity response of the corresponding front wheel angle input of reference model and sideslip angle response are like Fig. 6 and shown in Figure 7; Can know among Fig. 6 that yaw velocity has very big difference when car speed is respectively 20m/s, 30m/s, 40m/s; The speed of a motor vehicle is high more, and the steady-state value of the expectation yaw velocity that reference model provides is more little, and the side slip angle response approaches zero among Fig. 7 when car speed is respectively 20m/s, 30m/s, 40m/s; And fixed curve coincides together basically under three kinds of situation, and the description references model has been planned very desirable vehicle response.
Fig. 8 is the constructional drawing of The model with reference to vehicle stability controlled system; Input is vehicle front-wheel corner δ; Obtain corresponding vehicle side slip angle β and Vehicular yaw cireular frequency r through auto model earlier, vehicle front-wheel corner δ calculates β through reference model again simultaneously
mAnd r
m, compare β and β respectively
m, r and r
m, can get magnitude of error e
1With e
2, get in the change structure controller, obtain additional yaw moment M to vehicle
zThereby, circulate.
Can use the present invention and produce and stablize the needed yaw moment of vehicle, and then lock torque and drive torque are distributed, have strong robustness, simple in structure, and be easy to physics realization, for the exploitation vehicle stability controlled system lays the foundation.
Claims (7)
1. based on the vehicle stability controlled system that becomes structural theory; It is characterized in that, be the basis to become the structure control theory, to the pre-estimating technology of vehicle yaw moment; Set up the vehicle stability controlling models; Utilize yaw velocity and side slip angle to implement feedback, produce and stablize the needed yaw moment of vehicle, and then lock torque and drive torque are distributed as state variable.
2. the vehicle stability controlled system based on the change structural theory as claimed in claim 1 is characterized in that, is explicit with reference to mould, also can be or implicit expression; Under the explicit situation, reference model is a component part of control system, and the desired characteristic of control system is significantly stipulated by the dynamic response of reference model state; Under the implicit expression situation, reference model is used as the calculating of control law, and not obvious appearing in the control system.
3. as claimed in claim 1 based on the vehicle stability controlled system that becomes structural theory; It is characterized in that; Design becomes the output that the structure control rule makes the output model reference following of controlled object; And satisfy unvarying condition, model reference is become the change structure control rule that the structure control rule is converted into general second-order model.
4. as claimed in claim 1 based on the vehicle stability controlled system that becomes structural theory; It is characterized in that; Design structure-changeable self-adaptive control system; Make the output of the output tracking reference model of controlled object, this controlled object is that a band disturbs input model, and model parameter has certain perturbation.
5. as claimed in claim 1 based on the vehicle stability controlled system that becomes structural theory; It is characterized in that Reference Model Design is that the different speed of a motor vehicle and the following vehicles of front wheel angle input can obtain good yaw angular response and less sideslip angle response, according to two degrees of freedom vehicle dynamics equation of state; The reference model of design same order; The speed of a motor vehicle is high more, and the steady-state value of the expectation yaw velocity that reference model provides is more little, and the side slip angle response then approaches zero.
6. as claimed in claim 3 based on the vehicle stability controlled system that becomes structural theory; It is characterized in that; This change structure control rule has been considered the A battle array with the variation of the speed of a motor vehicle and with reference to the influence of importing front wheel angle, thereby can adapt to the variation of the speed of a motor vehicle, has strong robustness.
7. the vehicle stability controlled system based on the change structural theory as claimed in claim 3 is characterized in that this change structure control rule satisfies stability condition, satisfies the existence and the accessibility condition of sliding formwork motion simultaneously, eliminates to a certain extent and buffets.
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| CN104781868A (en) * | 2013-01-28 | 2015-07-15 | 丰田自动车株式会社 | Driving assistance system, driving assistance method and assistance information providing apparatus |
| CN105253141A (en) * | 2015-09-09 | 2016-01-20 | 北京理工大学 | Wheel longitudinal force regulation-based vehicle handling stability control method |
| CN105741637A (en) * | 2016-02-01 | 2016-07-06 | 辽宁工业大学 | Four-wheel hub motor electric automobile intelligent steering control method |
| CN106004870A (en) * | 2016-06-23 | 2016-10-12 | 吉林大学 | Vehicle stability integrated control method based on variable-weight model prediction algorithm |
| CN106239503A (en) * | 2016-06-30 | 2016-12-21 | 杭州电子科技大学 | A kind of double-wheel self-balancing robot control system based on part known parameters |
| CN106681327A (en) * | 2017-01-11 | 2017-05-17 | 中南大学 | Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach |
| CN107132849A (en) * | 2017-04-11 | 2017-09-05 | 武汉理工大学 | A kind of phase plane intact stability determination methods |
| CN110641474A (en) * | 2019-10-29 | 2020-01-03 | 吉林大学 | Automobile control stability robustness quantitative calculation method based on dissipation energy |
| CN111204332A (en) * | 2020-02-10 | 2020-05-29 | 哈尔滨工业大学 | Sliding mode control method for optimizing vehicle yaw dynamic performance under all working conditions |
| CN111469840A (en) * | 2019-01-22 | 2020-07-31 | 上海汽车集团股份有限公司 | Vehicle following distance control method and device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104781868B (en) * | 2013-01-28 | 2016-11-09 | 丰田自动车株式会社 | Drive assist system, driving assistance method and auxiliary information provider unit |
| CN104781868A (en) * | 2013-01-28 | 2015-07-15 | 丰田自动车株式会社 | Driving assistance system, driving assistance method and assistance information providing apparatus |
| CN105253141A (en) * | 2015-09-09 | 2016-01-20 | 北京理工大学 | Wheel longitudinal force regulation-based vehicle handling stability control method |
| CN105741637A (en) * | 2016-02-01 | 2016-07-06 | 辽宁工业大学 | Four-wheel hub motor electric automobile intelligent steering control method |
| CN105741637B (en) * | 2016-02-01 | 2019-07-19 | 辽宁工业大学 | Four-wheel hub motor electric car automated steering control method |
| CN106004870B (en) * | 2016-06-23 | 2018-06-12 | 吉林大学 | A kind of intact stability integrated control method based on variable weight model prediction algorithm |
| CN106004870A (en) * | 2016-06-23 | 2016-10-12 | 吉林大学 | Vehicle stability integrated control method based on variable-weight model prediction algorithm |
| CN106239503B (en) * | 2016-06-30 | 2018-07-20 | 杭州电子科技大学 | A kind of double-wheel self-balancing robot control system based on part known parameters |
| CN106239503A (en) * | 2016-06-30 | 2016-12-21 | 杭州电子科技大学 | A kind of double-wheel self-balancing robot control system based on part known parameters |
| CN106681327A (en) * | 2017-01-11 | 2017-05-17 | 中南大学 | Method and system for intelligent driving horizontal and vertical decoupling control of great inertia electric motor coach |
| CN107132849A (en) * | 2017-04-11 | 2017-09-05 | 武汉理工大学 | A kind of phase plane intact stability determination methods |
| CN111469840A (en) * | 2019-01-22 | 2020-07-31 | 上海汽车集团股份有限公司 | Vehicle following distance control method and device |
| CN110641474A (en) * | 2019-10-29 | 2020-01-03 | 吉林大学 | Automobile control stability robustness quantitative calculation method based on dissipation energy |
| CN110641474B (en) * | 2019-10-29 | 2020-12-08 | 吉林大学 | Automobile control stability robustness quantitative calculation method based on dissipation energy |
| CN111204332A (en) * | 2020-02-10 | 2020-05-29 | 哈尔滨工业大学 | Sliding mode control method for optimizing vehicle yaw dynamic performance under all working conditions |
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Application publication date: 20120718 |