CN103707884A - Racing car stability control device and control method - Google Patents
Racing car stability control device and control method Download PDFInfo
- Publication number
- CN103707884A CN103707884A CN201310729020.8A CN201310729020A CN103707884A CN 103707884 A CN103707884 A CN 103707884A CN 201310729020 A CN201310729020 A CN 201310729020A CN 103707884 A CN103707884 A CN 103707884A
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- China
- Prior art keywords
- racing car
- control device
- wheel
- control
- stability
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
Abstract
The invention relates to a racing car stability control device and control method. According to the racing car stability control device and control method, due to the fact that the structure that a mass center sensor, a wheel speed sensor, an angle sensor, a pressure sensor and an angular velocity sensor send collected signals to a vehicle control unit ECU, the vehicle control unit ECU transmits signals to an ABS and a balance control device according to a specific control method, the ABS carries out brake on a single wheel or multiple wheels, and the balance control device carries out corresponding balance control is adopted, a racing car can detect the running gesture of the racing car when the racing car is driven at a curve in real time, the stability of the racing car under extreme steering, braking, driving and complex working conditions is guaranteed, and the stability problem of the racing car when large lateral acceleration and large side slip angles exist can be solved. In addition, according to the racing car stability control device and control method, an existing anti-lock braking system and an existing traction control system can be utilized for generating needed longitudinal force, the original structure of the racing car is not changed greatly, and the racing car stability control device and control method are good in stability control effect and easy to popularize and apply.
Description
Technical field
The present invention is a kind of racing car control device for stability and control method, belongs to the renovation technique of racing car control device for stability and control method.
Background technology
For manned vehicle, driving safety has become whole society's question of common concern, and racing car is stricter to the requirement of driving safety.When being about to cause danger, chaufeur can be dodged by steering dish, or carry out the generation of emergency brake braking to avoid traffic accident, yet racing car is in crossing curved process, turned to and affected, side force often approaches limit of adhesion, because now side slip angle is conventionally larger, the DeGrain that chaufeur is controlled wheel by bearing circle, and common driver also can not take correct method of operation or even maloperation because of fear, therefore racing car break away, racing or occur dangerous travel situations because of loses stability such as steering reaction are blunt.
Summary of the invention
The object of the invention is to consider the problems referred to above and a kind of racing car control device for stability is provided.Can utilize existing anti-skid brake system and Traction control system to produce required longitudinal force, and make racing car original structure, great changes will take place, is easy to apply.
Another object of the present invention is to provide a kind of control method of racing car control device for stability.The present invention possesses the operation attitude function of real-time detection racing car, has guaranteed that racing car turns in the limit, brakes, the stability under driving and complex working condition, and the stability problem of racing car can solve large lateral acceleration and large sideslip angle time.
Technical scheme of the present invention is: racing car control device for stability of the present invention, include balance control device, wheel speed sensors, vehicle frame, barycenter sensor, entire car controller ECU, wheel, angular velocity sensor, rotary angle transmitter, pressure sensor, abs braking antiblock device, stop mechanism, rotary angle transmitter is installed on bearing circle place, wheel speed sensors is placed on the core wheel place of wheel, barycenter installation of sensors is on vehicle frame, barycenter sensor, wheel speed sensors, rotary angle transmitter, the signal of pressure sensor and angular velocity sensor collection sends to entire car controller ECU, the control signal of entire car controller ECU is delivered to abs braking antiblock device and balance control device, abs braking antiblock device is braked single wheel or a plurality of wheel by stop mechanism, balance control device also carries out corresponding balance control.
The control method of racing car control device for stability of the present invention, comprise following control policy: this control method is to produce additional recovery yaw moment vehicle stability is improved by changing longitudinal force on the wheel of vehicle medial and lateral, the control policy carrying out for understeering and oversteer:
(1) control policy during racing car understeering: once racing car has larger understeering tendency of car, control system can apply instantaneous braking in the trailing wheel of curve inner side by automatic aligning, cause the side force that wheel is subject to increase, longitudinally braking force increases rapidly, produces the yaw moment identical with yaw direction;
(2) control policy of oversteer: the instantaneous braking by the outer front-wheel of bend, obtain a yaw moment contrary with yaw direction, reduce oversteer amount, principle is consistent with the control principle of understeering.
The present invention is owing to adopting barycenter sensor, wheel speed sensors, rotary angle transmitter, pressure sensor and angular velocity sensor send to entire car controller ECU by the signal of collection, entire car controller ECU sends signal to ABS and balance control device according to specific control method, ABS brakes single wheel or a plurality of wheel, balance control device carries out the structure of corresponding balance control, make this racing car can detect in real time the operation attitude of racing car in negotiation of bends, guarantee that racing car turns in the limit, braking, stability under driving and complex working condition, the stability problem of racing car in the time of solving large lateral acceleration and large sideslip angle, in addition it can utilize existing anti-skid brake system and Traction control system to produce required longitudinal force, and make racing car original structure, great changes will take place, be easy to apply.The present invention is that a kind of collection stability control is effective, racing car control device for stability and the control method easily applied.
Accompanying drawing explanation
Fig. 1 is the structural representation of racing car control device for stability of the present invention;
Fig. 2 is control principle drawing of the present invention.
The specific embodiment
Embodiment:
Structural representation of the present invention as shown in Figure 1, racing car control device for stability of the present invention, include balance control device 1, wheel speed sensors 2, vehicle frame 3, barycenter sensor 4, entire car controller ECU5, wheel 6, angular velocity sensor 7, rotary angle transmitter 8, pressure sensor 9, abs braking antiblock device 10, stop mechanism 11, rotary angle transmitter 8 is installed on bearing circle place, wheel speed sensors 2 is placed on the core wheel place of wheel 6, barycenter sensor 4 is arranged on vehicle frame 3, barycenter sensor 4, wheel speed sensors 2, rotary angle transmitter 8, the signal that pressure sensor 9 and angular velocity sensor 7 gather sends to entire car controller ECU5, the control signal of entire car controller ECU5 is delivered to abs braking antiblock device 10 and balance control device 1, abs braking antiblock device 10 is braked by 11 pairs of single wheels of stop mechanism or a plurality of wheel, balance control device 1 also carries out corresponding balance control.
In the present embodiment, above-mentioned balance control device 1 is arranged in racing car middle part.In above-mentioned balance control device 1, the swing of balance block is subject to the closed loop control of entire car controller ECU5.
The control method of racing car control device for stability of the present invention, comprise following control policy: this control method is to produce additional recovery yaw moment vehicle stability is improved by changing longitudinal force on the wheel of vehicle medial and lateral, the control policy carrying out for understeering and oversteer:
(1) control policy during racing car understeering: once racing car has larger understeering tendency of car, control system can apply instantaneous braking in the trailing wheel of curve inner side by automatic aligning, cause the side force that wheel is subject to increase, longitudinally braking force increases rapidly, produces the yaw moment identical with yaw direction;
(2) control policy of oversteer: the instantaneous braking by the outer front-wheel of bend, obtain a yaw moment contrary with yaw direction, reduce oversteer amount, principle is consistent with the control principle of understeering.
The direct yaw couple of the present invention is controlled and can be improved significantly the riding stability of non-linear vehicle when bend acceleration, deceleration, further improves the road-holding property of vehicle, thereby has caused concern widely.
Principle of work of the present invention is as follows: the signal that barycenter sensor 4, wheel speed sensors 2, rotary angle transmitter 8, pressure sensor 9 and angular velocity sensor 7 gather sends to entire car controller ECU, entire car controller ECU sends signal to abs braking antiblock device 10 and balance control device 1 according to specific control method, 10 pairs of single wheels of abs braking antiblock device or a plurality of wheel are braked, and balance control device 1 carries out corresponding balance control; Balance control device 1 is arranged in racing car middle part, and the swing of balance block is subject to the closed loop control of ECU treater.Owing to adopting said structure, make this racing car can detect in real time the operation attitude of racing car in negotiation of bends, guarantee that racing car turns in the limit, brakes, the stability under driving and complex working condition, the stability problem of racing car in the time of solving large lateral acceleration and large sideslip angle, in addition it can utilize existing anti-skid brake system and Traction control system to produce required longitudinal force, and make racing car original structure, great changes will take place, is easy to apply.
Claims (4)
1. a racing car control device for stability, is characterized in that including balance control device (1), wheel speed sensors (2), vehicle frame (3), barycenter sensor (4), entire car controller ECU(5), wheel (6), angular velocity sensor (7), rotary angle transmitter (8), pressure sensor (9), abs braking antiblock device (10), stop mechanism (11), rotary angle transmitter (8) is installed on bearing circle place, and wheel speed sensors (2) is placed on the core wheel place of wheel (6), and it is upper that barycenter sensor (4) is arranged on vehicle frame (3), barycenter sensor (4), wheel speed sensors (2), rotary angle transmitter (8), the signal that pressure sensor (9) and angular velocity sensor (7) gather sends to entire car controller ECU(5), entire car controller ECU(5) control signal is delivered to abs braking antiblock device (10) and balance control device (1), abs braking antiblock device (10) is braked single wheel or a plurality of wheel by stop mechanism (11), and balance control device (1) also carries out corresponding balance control.
2. racing car control device for stability according to claim 1, is characterized in that above-mentioned balance control device (1) is arranged in racing car middle part.
3. racing car control device for stability according to claim 1, is characterized in that the swing of balance block in above-mentioned balance control device (1) is subject to entire car controller ECU(5) closed loop control.
4. the control method of racing car control device for stability according to claim 1, it is characterized in that comprising following control policy: this control method is to produce additional recovery yaw moment vehicle stability is improved by changing longitudinal force on the wheel of vehicle medial and lateral, the control policy carrying out for understeering and oversteer:
(1) control policy during racing car understeering: once racing car has larger understeering tendency of car, control system can apply instantaneous braking in the trailing wheel of curve inner side by automatic aligning, cause the side force that wheel is subject to increase, longitudinally braking force increases rapidly, produces the yaw moment identical with yaw direction;
(2) control policy of oversteer: the instantaneous braking by the outer front-wheel of bend, obtain a yaw moment contrary with yaw direction, reduce oversteer amount, principle is consistent with the control principle of understeering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310729020.8A CN103707884A (en) | 2013-12-26 | 2013-12-26 | Racing car stability control device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310729020.8A CN103707884A (en) | 2013-12-26 | 2013-12-26 | Racing car stability control device and control method |
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| Publication Number | Publication Date |
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| CN103707884A true CN103707884A (en) | 2014-04-09 |
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| CN201310729020.8A Pending CN103707884A (en) | 2013-12-26 | 2013-12-26 | Racing car stability control device and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860137A (en) * | 2017-05-16 | 2018-11-23 | 华为技术有限公司 | Control method, device and the intelligent vehicle of unstability vehicle |
| CN110221548A (en) * | 2018-03-01 | 2019-09-10 | 弘允新能源（上海）有限公司 | A kind of general entire car controller of kart |
| CN110254420A (en) * | 2019-06-27 | 2019-09-20 | 清华大学苏州汽车研究院（吴江） | A kind of four-wheel driving electric vehicle stable direction control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860137A (en) * | 2017-05-16 | 2018-11-23 | 华为技术有限公司 | Control method, device and the intelligent vehicle of unstability vehicle |
| CN110221548A (en) * | 2018-03-01 | 2019-09-10 | 弘允新能源（上海）有限公司 | A kind of general entire car controller of kart |
| CN110254420A (en) * | 2019-06-27 | 2019-09-20 | 清华大学苏州汽车研究院（吴江） | A kind of four-wheel driving electric vehicle stable direction control method |
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Application publication date: 20140409 |