CN110008600A - The design method of vehicle stability controller performance conservative - Google Patents
The design method of vehicle stability controller performance conservative Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/02—Control of vehicle driving stability
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Abstract
The present invention relates to a kind of design methods of vehicle stability controller performance conservative, including pilot model modeling and Vehicle Stability Control Strategy method, using fuzzy control logic as core Vehicle Stability Control Strategy, it proposes simultaneously and devises a kind of modified pilot model, emphasis combination Smith Projection Compensation algorithm handles driver's lag characteristic, vehicle stability controlled system is allowed to carry out Decision Control, lifting controller performance and the conservative for reducing controller according to the Compensation Feedback amount of pilot model by improving pilot model.
Description
Technical field
The present invention relates to a kind of vehicle stability controller, especially a kind of design method of vehicle stability controller.
Background technique
Vehicle stability controlled system is in anti-lock braking system in automobiles (ABS) and Automobile Driving Antiskid Control System
(ASR) a kind of active safety systems of vehicles to grow up on the basis of.It is mainly estimated using onboard sensor or controller
Calculating method can describe the state parameter of vehicle dynamics characteristics to obtain current vehicle, go judgement current by core controller
The riding stability of vehicle, once understeer, the unstability situation of the ovdersteering even critical danger of side sliding and side turning occur for vehicle
When dangerous section's condition, these general unstability operating conditions are all due to driver's misoperation or beyond its limit of power, and due to road surface
Caused by the factors such as too low, the yaw velocity response lag of attachment coefficient, once this occurs, controller can make so that
Vehicle restores stable best decision, controls the distribution of each wheel tyre power, so that the driving posture for changing current vehicle is straight
It is travelled to stablizing.
Driver can be considered the top controller and actuator of vehicle, have to the control stability of vehicle vital
It influences.When conventional vehicle stability controller is there is no by driver in view of among control algolithm, leading to design controller
Characteristics of Drivers ' Behavior is had ignored, only simple lifting controller is for the control performance of intact stability, the actually fortune of vehicle
Dynamic state be changed by executing agencies such as driver's steer direction disk, pedals, but manipulation vehicle processes in driver delay,
Executing agency's delay can have an impact vehicle control device, and driver's delay is one long compared to the delay of executing agency
Delay, mainly signal and energy generate lag when passing to controller.Therefore such active safety control algorithm is being designed
When, it needs to carry out on the basis of people-Che-road closed-loop control system, to reduce conventional controller conservative, and optimizes its control
Performance processed.It is carried out in conjunction with driver in ring although current vehicle stabilitrak also has, does not further investigate and solve
Certainly the problem of driver's response delay.
Therefore, it is necessary to design a kind of fuzzy control logic as core Vehicle Stability Control Strategy, while proposing and setting
A kind of modified pilot model has been counted, emphasis combination Smith Projection Compensation algorithm handles driver's lag characteristic,
By improving pilot model vehicle stability controlled system is determined according to the Compensation Feedback amount of pilot model
Plan control, lifting controller performance and the conservative for reducing controller.
Summary of the invention
The present invention is to provide for a kind of design method of vehicle stability controller performance conservative, by improving driver
Model allows vehicle stability controlled system to carry out Decision Control according to the Compensation Feedback amount of pilot model, promotes control
Device performance and the conservative for reducing controller.
The technical scheme is that a kind of design method of vehicle stability controller performance conservative, including drive
Member's model modeling and Vehicle Stability Control Strategy method, the specific steps are that:
1. pilot model models
Tracking pilot model and Smith predictive compensation algorithm is taken aim in advance using routine to handle driver's delay,
By driver's path trace curve graph, lateral displacement deviation ε can be obtained are as follows:
ε=y (t+T)-Ltan ψ-y (t) (1)
Wherein, ψ indicates the course angle of vehicle, and L indicates forward sight distance, due to | ψ | < < 1, above-mentioned formula can be rewritten as:
ε=y (t+T)-L ψ-y (t) (2)
When driver is turned to by obtaining vehicle-posture information and road information, this of driver pre- can be taken aim at
The process of decision to steering wheel rotation is indicated with transmission function are as follows:
H indicates that driver's ratio controls gain coefficient, τ in formularIndicate that driver's differential gain coefficient, τ p are that driver is pure
Delay, s are Laplace transformation operator.Y (t) is t moment vehicle lateral displacement, and y (t+T) expression is taken aim at a little in the lateral of destination path in advance
Position, δ are steering wheel for vehicle corner；
Trace model and dynamics of vehicle relevant knowledge are taken aim in advance according to the conventional driver of foundation, can obtain steering wheel angle
Corresponding to the transmission function of y-axis lateral position, expression are as follows:
In above formula (4), vxFor longitudinal speed of vehicle, k2For vehicle rear axle cornering stiffness, K is yaw velocity gain, Iz
It is vehicle around the rotary inertia of z-axis, ζ is the relative damping ratio of vehicle, l, lrRespectively vehicle wheelbase and mass center is to rear axle
Distance, ωnThe then frequency intrinsic for vehicle, s are Laplace transformation operator.Built pilot model steering wheel angle and lateral displacement
The correlation formula of deviation can simultaneously be obtained in conjunction with above formula, take aim at a biography of the lateral position offset ε at place corresponding to the lateral position of y-axis in advance
Delivery function and can indicate are as follows:
τ in upper (5)pThe lag time as to be compensated according to above-mentioned pilot model and its correlation formula and is directed to
The case where driver postpones, designs a kind of Fuzzy-PI-Smith Predictive Compensation Control device, since Smith backoff algorithm is for quilt
It is very high to control object model required precision, and driver is a Complex Nonlinear System, therefore designs a kind of Fuzzy-PI control
Device processed handles two class errors, one is as caused by smith compensation device estimated time and the actual delay Time Inconsistency accidentally
Difference, the second is error caused by system modelling is inaccurate, thus adaptive process parameters；
When in system without carrying out smith compensation, the transmission function between output and input be may be expressed as:
Containing decay part from can be seen that in transmission function denominator in (6) formula, can signal be passed in closed loop
Pass the lag there are certain time, Fuzzy-PI controller transmission function Gc(s) it represents and shows, introduce transmission function Gp(s)·
(1-e-τs) transmission function as Smith predictor, Gc(s) the compensating controller transmitting letter composed in parallel with Smith predictor
Number are as follows:
The closed loop transfer function, after being compensated can be obtained are as follows:
It can be seen that the part e that delay can will be present after overcompensation from (8) formula-τsIt is placed on except closed loop,
It is exactly to the τ in formula (3)pIt compensates, the adaptive adjustment by Fuzzy-PI to system, so that whole system stability has
Very big promotion；
The input of fuzzy controller can be obtained according to lateral displacement deviation formula (5) and smith compensation control block diagram, chosen
The deviation of actual vehicle lateral displacement and the difference E of Smith Projection Compensation value and its error rate EC are as fuzzy controller
Input, output EO is the control parameter after fuzzy logic operation, the transmission function of controlled device and smith compensation biography portion
Divide delivery function to have been given, repeats no more；
2. Vehicle Stability Control Strategy method
It is designed for Vehicle Stability Control Strategy, using the control mode of direct yaw moment, certainly with linear two
By spending for vehicle reference model, (e (β), e (ω)) is expressed as with yaw velocity ω and the respective margin of error of side slip angle β,
As the input of vehicle stability controller FUZZY ALGORITHMS FOR CONTROL, exporting Δ M is the additional yaw moment for travelling vehicle stabilization,
Fuzzy controller is allocated using triangular form subordinating degree function；By being carried out at smith compensation to driver's delay link
Reason, pilot model are constantly fed back to the corresponding control amount of vehicle stability controlled system with this, make entire intact stability control
System conservative processed substantially reduces.
The beneficial effects of the present invention are:
The design method of vehicle stability controller performance conservative of the invention, using fuzzy control logic as core
Vehicle Stability Control Strategy, while a kind of modified pilot model is proposed and devising, emphasis combination Smith estimates benefit
It repays algorithm to handle driver's lag characteristic, allows vehicle stability controlled system root by improving pilot model
Decision Control, lifting controller performance and the conservative for reducing controller are carried out according to the Compensation Feedback amount of pilot model.
Detailed description of the invention
Fig. 1 is driver's path trace curve graph；
Fig. 2 is Smith Projection Compensation control block diagram；
Fig. 3 is input and output three-dimensional relationship figure；
Fig. 4 is two-dimensional vector field figure；
Fig. 5 is yaw velocity comparison diagram；
Fig. 6 is running track comparison diagram.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
A kind of design method of vehicle stability controller performance conservative, comprising the following steps:
1. pilot model models
It being handled to embody the present invention for the analysis of driver's lag characteristic, selection physical meaning is clear, it is widely used,
Theoretical relatively mature routine takes aim at tracking pilot model in advance.Mainly driver is prolonged using Smith predictive compensation algorithm
It is handled late.
Lateral displacement deviation ε can be obtained by Fig. 1 are as follows:
ε=y (t+T)-Ltan ψ-y (t) (1)
Since ψ indicates the course angle of vehicle, L indicates forward sight distance, due to | ψ | < < 1, above-mentioned formula can be rewritten as: ε
=y (t+T)-L ψ-y (t) (2)
When driver is turned to by obtaining vehicle-posture information and road information, this of driver pre- can be taken aim at
The process of decision to steering wheel rotation is indicated with transmission function are as follows:
H indicates that driver's ratio controls gain coefficient, τ in formularIndicate driver's differential gain coefficient, τpIt is pure for driver
Delay, s are Laplace transformation operator.Y (t) is t moment vehicle lateral displacement, and y (t+T) expression is taken aim at a little in the lateral of destination path in advance
Position, δ are steering wheel for vehicle corner；
Trace model and dynamics of vehicle relevant knowledge are taken aim in advance according to the conventional driver of foundation, can obtain steering wheel angle
Corresponding to the transmission function of y-axis lateral position, expression are as follows:
In above formula (4), vxFor longitudinal speed of vehicle, k2For vehicle rear axle cornering stiffness, K is yaw velocity gain, Iz
It is vehicle around the rotary inertia of z-axis, ζ is the relative damping ratio of vehicle, l, lrRespectively vehicle wheelbase and mass center is to rear axle
Distance, ωnThe then frequency intrinsic for vehicle, s are Laplace transformation operator；Built pilot model steering wheel angle and lateral displacement
The correlation formula of deviation can simultaneously be obtained in conjunction with above formula, take aim at a biography of the lateral position offset ε at place corresponding to the lateral position of y-axis in advance
Delivery function and can indicate are as follows:
τ in above formulapThe lag time as to be compensated, according to above-mentioned pilot model and its correlation formula and for driving
The case where person of sailing postpones, it is as shown in Figure 2 that the present invention devises Fuzzy-PI-Smith Predictive Compensation Control device.Due to delay system
In each subsystem do not have certain real-time in the transmitting of signal and control action, certain shadow can be generated for system
It rings, so that the accuracy of controller declines.For this delay phenomenon, increase on the feedback channel of system to the delay time
Predictive compensation, offsetting is influenced due to time delay to system bring.Since Smith backoff algorithm is for plant model essence
Degree requirement is very high, and driver is a Complex Nonlinear System, therefore devises Fuzzy-PI controller for this problem
Two class errors are handled, one is as caused by smith compensation device estimated time and actual delay Time Inconsistency error,
The second is error caused by system modelling is inaccurate, thus adaptive process parameters.
As shown in Figure 2, when in system without carrying out smith compensation, the transmission function between output and input can be indicated
Are as follows:
As can be seen from the above formula that containing decay part in transmission function denominator, can signal be passed in closed loop
Pass the lag there are certain time.Fuzzy-PI controller transmission function Gc(s) it represents and shows, introduce transmission function Gp(s)·
(1-e-τs) transmission function as Smith predictor.
Gc(s) the compensating controller transmission function composed in parallel with Smith predictor are as follows:
The closed loop transfer function, after being compensated can be obtained are as follows:
As can be seen from the above equation, the part e of delay can will be present after overcompensation-τsIt is placed on except closed loop, also
It is to the τ in formula (3)pIt compensates, the adaptive adjustment by Fuzzy-PI to system, so that whole system stability has very
It is big to be promoted.
The input of fuzzy controller can be obtained according to lateral displacement deviation formula (5) and smith compensation control block diagram 2, chosen
The deviation of actual vehicle lateral displacement and the difference (E) of Smith Projection Compensation value and its error rate (EC) are used as Fuzzy Control
The input of device processed, output (EO) are the control parameter after fuzzy logic operation.The transmission function of controlled device and Smith mend
It repays biography part delivery function to have been given, repeat no more.The fuzzy control rule state table designed for invention as shown in table 1, Fig. 3
For fuzzy controller input and output three-dimensional relationship figure.
2. Vehicle Stability Control Strategy
This section is designed for Vehicle Stability Control Strategy, the main control mode for using direct yaw moment, with
Linear two degrees of freedom is vehicle reference model, is expressed as (e with yaw velocity ω and the respective margin of error of side slip angle β
(β), e (ω)), as the input of vehicle stability controller FUZZY ALGORITHMS FOR CONTROL, exporting Δ M is travel vehicle stabilization attached
Add yaw moment, fuzzy controller is allocated using triangular form subordinating degree function.Table 2 is fuzzy linguistic rules state table, Fig. 4
The two-dimensional vector field figure inputted for fuzzy controller two.
By carrying out smith compensation processing to driver's delay link, it is steady that pilot model with this constantly feeds back to vehicle
The corresponding control amount of qualitative control system substantially reduces entire vehicle stability controlled system conservative.
3. application examples
By carrying out model modeling in Maltab/Simulink, combined high precision dynamics software Carsim is joined
Emulation is closed, in order to verify the controller's effect for having driver's delay compensation designed by this paper, with the control without delay compensation
Device processed compares, and emulation uses vehicle for B grades of cars, and sampling step length takes 0.001.It emulates operating condition: selecting 0.1s close as history
The compensation time of this compensator, driver are set as 0.15s delay time, the two-track line referring to as defined in ISO-3888-1:1999
Operating condition is inputted as reference road.For the control performance of comprehensive verification controller, choosing speed is 100km/h and road surface attachment
The simulated conditions that coefficient is 0.5.Shown in partial simulation result following Fig. 5 and Fig. 6.
As can be seen from Figure 5, uncontrolled yaw rate variation is more violent, and amplitude is very big, and two kinds have controller
Vehicle then can be very good to follow ideal input, but there are certain response lag and fluctuation, mistakes for not compensated controller
It is longer to cross the time；Compared to the above two, compensated controller performance is more superior, main reason is that smith compensation algorithm can
With in solution system as signal or energy transmission delay and to being influenced caused by stability of control system, from the fortune of Fig. 6 vehicle
The comparison of row track can obtain the controller performance through overcompensation more preferably, enable the vehicle to preferably follow destination path, and vehicle road
The lateral deviation of diameter tracking is smaller.It follows that being handled by smith compensation controller pilot model delay, protect
Vehicle run stability energy has been demonstrate,proved, meanwhile, the conservative of conventional vehicles stabilizing control system performance design is reduced to a certain extent
Property.
Claims (1)
1. a kind of design method of vehicle stability controller performance conservative, it is characterised in that: modeled including pilot model
With Vehicle Stability Control Strategy method, the specific steps are that:
(1) pilot model models
It takes aim at tracking pilot model and Smith predictive compensation algorithm in advance using routine to handle driver's delay, by driving
Lateral displacement deviation ε can be obtained in the person's of sailing path trace curve graph are as follows:
ε=y (t+T)-Ltan ψ-y (t) (1)
Wherein, ψ indicates the course angle of vehicle, and L indicates forward sight distance, due to | ψ | < < 1, above-mentioned formula can be rewritten as:
ε=y (t+T)-L ψ-y (t) (2)
When driver turns to by obtaining vehicle-posture information and road information, this of driver pre- can be taken aim at into decision
Process to steering wheel rotation is indicated with transmission function are as follows:
H indicates that driver's ratio controls gain coefficient, τ in formularIndicate that driver's differential gain coefficient, τ p are the pure delay of driver,
S is Laplace transformation operator.Y (t) is t moment vehicle lateral displacement, and y (t+T) expression takes aim at a little lateral position in destination path in advance,
δ is steering wheel for vehicle corner；
Trace model and dynamics of vehicle relevant knowledge are taken aim in advance according to the conventional driver of foundation, and it is corresponding can to obtain steering wheel angle
In the transmission function of y-axis lateral position, expression are as follows:
(4) in formula, vxFor longitudinal speed of vehicle, k2For vehicle rear axle cornering stiffness, K is yaw velocity gain, IzFor vehicle
Around the rotary inertia of z-axis, ζ is the relative damping ratio of vehicle, l, lrThe respectively distance of vehicle wheelbase and mass center to rear axle, ωn
The then frequency intrinsic for vehicle, s are Laplace transformation operator.The phase of built pilot model steering wheel angle and lateral displacement deviation
Closing formula can simultaneously obtain in conjunction with above formula, take aim at a lateral position offset ε at place in advance corresponding to the transmission function of the lateral position of y-axis and
It can indicate are as follows:
(5) τ in formulapThe lag time as to be compensated according to above-mentioned pilot model and its correlation formula and is directed to driver
The case where delay, designs a kind of Fuzzy-PI-Smith Predictive Compensation Control device, since Smith backoff algorithm is for controlled device
Model accuracy requirement is very high, and driver is a Complex Nonlinear System, therefore it is next to design a kind of Fuzzy-PI controller
Two class errors are handled, one is the error as caused by smith compensation device estimated time and actual delay Time Inconsistency,
Second is that error caused by system modelling is inaccurate, thus adaptive process parameters；
When in system without carrying out smith compensation, the transmission function between output and input be may be expressed as:
Containing decay part from can be seen that in transmission function denominator in (6) formula, signal can be made to transmit in closed loop and deposited
In the lag of certain time, Fuzzy-PI controller transmission function Gc(s) it represents and shows, introduce transmission function Gp(s)·(1-e-τs) transmission function as Smith predictor, Gc(s) the compensating controller transmission function composed in parallel with Smith predictor
Are as follows:
The closed loop transfer function, after being compensated can be obtained are as follows:
It can be seen that the part e that delay can will be present after overcompensation from (8) formula-τsIt is placed on except closed loop, that is,
To the τ in formula (3)pIt compensates, the adaptive adjustment by Fuzzy-PI to system, so that whole system stability is promoted；
The input of fuzzy controller can be obtained according to lateral displacement deviation formula (5) and smith compensation control block diagram, chosen practical
The difference E and its error rate EC of the deviation of vehicle lateral displacement and Smith Projection Compensation value are as the defeated of fuzzy controller
Enter, output EO is the control parameter after fuzzy logic operation；
(2) Vehicle Stability Control Strategy method
It is designed for Vehicle Stability Control Strategy, using the control mode of direct yaw moment, with linear two degrees of freedom
It for vehicle reference model, is expressed as e (β) with yaw velocity ω and the respective margin of error of side slip angle β, e (ω), as vehicle
The input of stability controller FUZZY ALGORITHMS FOR CONTROL, output Δ M are the additional yaw moment for travelling vehicle stabilization, Fuzzy Control
Device processed is allocated using triangular form subordinating degree function；By carrying out smith compensation processing to driver's delay link, drive
Member's model constantly feeds back to the corresponding control amount of vehicle stability controlled system with this, protects entire vehicle stability controlled system
Keeping property substantially reduces.
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Cited By (5)
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| CN111271181A (en) * | 2020-04-04 | 2020-06-12 | 西北工业大学 | Two-degree-of-freedom [ mu ] controller for conservative gain reduction scheduling of aero-engine |
| CN111736608A (en) * | 2020-06-28 | 2020-10-02 | 江苏理工学院 | Method for establishing muscle nerve driver model in steering fault-tolerant control |
| CN111731316A (en) * | 2020-06-08 | 2020-10-02 | 南京航空航天大学 | Method for establishing driver model considering vehicle rollover characteristics |
| CN112026763A (en) * | 2020-07-23 | 2020-12-04 | 南京航空航天大学 | Automobile track tracking control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021109554A1 (en) * | 2019-12-04 | 2021-06-10 | Suzhou Zhijia Science & Technologies Co., Ltd. | Longitudinal control system and method for autonomous vehicle based on feed forward control |
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| CN112026763A (en) * | 2020-07-23 | 2020-12-04 | 南京航空航天大学 | Automobile track tracking control method |
| CN112026763B (en) * | 2020-07-23 | 2021-08-06 | 南京航空航天大学 | Automobile track tracking control method |
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