提高车辆主动安全性的模型参考变结构控制方法

20071111:100026788(2007)11201422061,2(11,100072;21,100081):,,.,,,.:;;:U46711:AModelReferenceVariableStructureControlforImprovingVehicleActiveSafetyLIJian2feng1,GAOLi2(11ChinaNorthVehicleResearchInstitute,Beijing100081,China;21InstituteofMechanicalandVehicularEngineering,BeijingInstituteofTechnology,Beijing100081,China)Abstract:AmodelreferencevariablestructurecontrollerbasedonLyapunovfunctionwasdesignedtogenerateadditionalyawmomentofthevehicleforimprovingactivesafety.Thiscontrollerwasexpectedtomaketheactualvehicleresponsetrackingthereferencemodel.TheproposedsimulationmodelwasemployedtocalculatetheyawrateandslipangleresponsecharacteristicsofavehicleundersinesteeringangleandJ2turninput.Itshowsthatthehandlingandstabilityofthevehicleissignificantlyimprovedascomparedtotheuncontrolledone.Thecontrolstrategyisrobusttovehiclespeedandroadconditionvariations,anduncertainties.Keywords:vehicledynamicalmodel;yawmoment;variablestructurecontroller:2006209219:(200439800060):(1978-),,.,,,,,,[14].,,[5,6].,[7],.,,,..111,.,,,:m(Ûv+ur)=FY1+FY2+FY3+FY4(1)IÛr=lf(FY1+FY2)-lr(FY3+FY4)+MZ(2)m(Ûu-vr)=-(FX1+FX2+FX3+FX4)(3)MZ=d2(-FX2-FX3+FX1+FX4)(4),m,I,r,u,v,lf,lr,FX,FY,d,Mz,,Mz.FZ1=mglr2(lf+lr)-maxh2(lf+lr)-mayhlrd(lf+lr)(5)FZ2=mglr2(lf+lr)-maxh2(lf+lr)+mayhlrd(lf+lr)(6)FZ3=mglf2(lf+lr)+maxh2(lf+lr)+mayhlfd(lf+lr)(7)FZ4=mglf2(lf+lr)+maxh2(lf+lr)-mayhlfd(lf+lr)(8),h,ax,ay..2211,[8],,,mu(Û+r)=-2cf(+lfrPu-)-2cr(-lrrPu)(9)IÛr=-2cf(+lfrPu-)lf+2cr(-lrrPu)lr+Mz(10),,cf,cr.(9)(10),r,ÛX=AX+BMz+H(11)X=r,A=a11a12a21a22,B=b1b2,H=h1h2a11=-2(cr+cf)P(mu),a12=2(lrcr-lfcf)P(mu2)-1,a21=2(lrcr-lfcf)PI,a22=-2(l2rcr+l2fcf)P(Iu),b1=0,b2=1PI,h1=2cfP(mu),h2=2acfPI34111212,.,ÛXm=AmXm+Hm,(12)Xm=mrm,Am=a11a12a21a22,Hm=h1a22h1Pa12.213,XXmÛE=ÛX-ÛXm(13)limtE(t)=0(14)(11)(12)(13)ÛE=A(X-Xm)+BMZ+(A-Am)Xm+(H-Hm)=AE+BMZ+d1d2,(15),E=e1e2,d1=0,d2=h2-a22h1Pa12.E=TZ(15)ÛZ=ŠAZ+ŠBMZ+…d,(16),Z=Z1Z2,ŠA=01a12a21-a11a22a11+a22,T=a12b2-a22b1b1a21b1-a11b2b2,ŠB=01,…d=0f,f=T-1(2,2)3d2.S=c1Z1+Z2,(17)c1.MZ=-[|(a12a21-a11a22)Z1+(c1+a11+a22)Z2|+D+]sgn(S),(18),D|f|,0.A,,.214LyapunovV=12S2(19)(17)ÛS=c1ÛZ1+ÛZ2=c1Z2+(a12a21-a11a22)Z1+(a11+a22)Z2+MZ+f(20)(18)SÛS=c1ÛZ1S+ÛZ2S=c1Z2S+(a12a21-a11a22)Z1S+(a11+a22)Z2S-[|(a12a21-a11a22)Z1+(c1+a11+a22)Z2|+D+]|S|+fS=[(a12a21-a11a22)Z1+(c1+a11+a22)Z2]S-|(a12a21-a11a22)Z1+(c1+a11+a22)Z2||S|+fS-D|S|-|S|-|S|(21)ÛV-|S|(22)4412007112.m(S)sgn(S),.m(S)=SP(|S|+)(23).2.3,,.1,.3110105rad,014Hz,3,72kmPh,018,4,.11500kg2600kgm21.1m1.4m40000NPrad40000NPrad1.5m0.5m344,,,.,,,54111.312,,,0107rad,5.,,60kmPh018,6(a).90kmPh015,6(b).56,,,,,.,,,6,,,,.4,,641200711,,.,,..:[1],,.[J].,2000,11(1-2):61-64.GuoKonghui,YaHao,ZongChangfu.Researchonyaw2rate2feedbacksteeringcontrol[J].ChinaMechanicalEngineering,2000,11(1-2):61-64.[2]EsmailzadehE,GoodarziA,VossoughiGR.Optimalyawmomentcontrollawforimprovedvehiclehandling[J].Mechatronics,2003,13:659-675.[3]MasatoAbea,YoshioKanoa,KazuasaSuzukia,etal.Side2slipcontroltostabilizevehiclelateralmotionbydirectyawmoment[J].JSAEReview,2001,22:413-419.[4]FarzadTahami,RezaKazemi,ShahrokhFarhanghi.Anoveldriverassiststabilitysystemforall2wheel2driveelectricvehicles[J].IEEETransactionsonVehicularTechnology,2003,52(3):683-693.[5]MotokiShino,MasaoNagai.Yaw2momentcontrolofelectricvehicleforimprovinghandlingandstability[J].JSAEReview,2001,22:473-480.[6]MotokiShino,MasaoNagai.Independentwheeltorquecontrolofsmall2scaleelectricvehicleforhandlingandstabilityimprovement[J].JSAEReview,2003,24:449-456.[7]JeonghoonSong.Performanceevaluationofahybridelectricbrakesystemwithaslidingmodecontroller[J].Mechatronics,2005,15:339-358.[8]PengH,TomizukaM.Previewcontrolforvehiclelateralguidanceinhighwayautomation[J].ASMEJournalofDynamicsSystems,MeasurementandControl,1993,115(4):678-686.(78)[8]BrimbergJ,ReVelleC.Abi2objectiveplantlocationproblem:Costvs.demandserved[J].LocationScience,1998(6):121-135.[9]ElenaFernandez,JustoPuerto.Multiobjectivesolutionoftheuncapacitatedplantlocationproblem[J].EuropeanJournalofOperationalResearch,2003,(145):509-529.[10]ChristianStummer,karlDoerner,AxelFocke,etal.Determininglocationandsizeofmedicaldepartmentsinahospitalnetwork:Amultiobjectivedecisionsupportapproach[J].HealthCareManagementScience,2004(7):63-71.[11]Ioannis,Giannikos.Amultiobjectiveprogrammingmodelforlocatingtreatmentsitesandroutinghazardouswastes[J].EuropeanJournalofOperationalResearch,1998,104:333-342.[12]DebK,AmritP,SameerA,etal.Afastandelitistmultiobjectivegeneticalgorithm:NSGA2II[J].IEEETransactionsonEvolutionaryComputation,2002,6(2):182-197.[13]TanKC,LeeTH,KhorEF,Evolutionaryalgorithmwithdynamicpopulationsizeandlocalexplorationformultiobjectiveoptimization[J].IEEETransactionsonEvolutionaryComputation,2001,5(6):565-588.74111