Vehicular stability control system based on variable structure theory

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 [0001] The invention belongs to the field of vehicle application and vehicle control, relates to variable structure control theory, and develops a vehicle stability control method. Aiming at the prediction technology of vehicle yaw moment, the variable structure control method is adopted to establish a vehicle stability control model. The yaw rate and the side slip angle of the center of mass are used as state variables to implement feedback to generate the yaw moment required to stabilize the vehicle, and then distribute the braking moment and driving moment. The present invention has strong robustness, simple structure, and is easy to realize physically. Provide a solid foundation for the development of vehicle stability control systems. Background technique [0002] The idea of ​​vehicle stability control first appeared in BMW in the 1980s. At that time, BMW realized that the driver would "overreact" or "slowly respond" when encountering an emergency. Ther...

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Problems solved by technology

[0006] Although the variable structure control method is invariant to the parameter perturbation and external disturbance of the system, it also brings the high-frequency chattering characteristics of the control variable. In practical applications, this high-frequency chattering is theoretically infinite. Fast, no actuator can achieve it, and this characteristic is easy to excite the unmodeled characteristics of the system, thus affecting the control performance of the system, so the chattering phenomenon brings difficulties to the application of variable structure control in actual systems

But eliminating the chattering characteristics of variable structure control also eliminates the invariance of variable structure control to disturbance, so it can only weaken the chattering phenomenon of variable structure control

[0007] At present, there are many studies on vehicle stability control at home and abroad, most of which use optimal control theory and neural network control theory. The setting of the weight coefficient in the control law of the former depends on experience, and the control effect is sensitive to the change of the weight coefficient. The latter is currently Only tentative methods can be adopted, and the stability and convergence of the control system cannot be strictly proved theoretically, and the physical realization of the controller is very complicated

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