Vehicle lateral stability nonlinear integration control method

An integrated control, nonlinear technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of saving mass production cost and improving online computing performance

Active Publication Date: 2015-11-11
JILIN UNIV
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Problems solved by technology

The severe traffic situation makes people pay more and more attention to the active safety of vehicles. The simple superposition of elec

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  • Vehicle lateral stability nonlinear integration control method
  • Vehicle lateral stability nonlinear integration control method
  • Vehicle lateral stability nonlinear integration control method

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Embodiment Construction

[0023] The present invention provides a kind of vehicle lateral stability nonlinear integrated control method, and this method comprises the following several steps:

[0024] Step 1. In order to facilitate the analysis and control of the vehicle system, a two-degree-of-freedom vehicle model is established, such as figure 1 , used to characterize the relationship between the vehicle's handling stability and the vehicle's lateral and yaw motions. Considering the yaw motion and lateral motion of the vehicle, its dynamic equation is:

[0025]

[0026] Among them, F y1 , F y2 is the cornering force of the front and rear tires, in N; M is the additional yaw moment, in Nm; a and b are the distances from the center of mass of the vehicle to the front and rear axles, in m; I z is the moment of inertia of the car around the z-axis, unit kg m 2 ; r is the yaw rate, unit rad / s; v x is the longitudinal velocity of the vehicle, v y is the longitudinal and lateral speed of the vehic...

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Abstract

The invention relates to a vehicle active safety control method, and particularly relates to a vehicle lateral stability nonlinear integration control method. Firstly, a simplified vehicle dynamics model is built; then, design of a nonlinear model predictive controller is carried out, expected yaw angle velocity information is inputted to the nonlinear controller module, according to the value of the expected yaw angle velocity and sideslip angle velocities of a front wheel and a rear wheel of the vehicle and the yaw angle velocity fed back in real time, a model predicative control method is used for predicting future dynamic performance of the system, optimization is carried out at the same time, an additional yaw moment and the optimized steering wheel angle information are decided and outputted to an execution mechanism corresponding to the vehicle, and the vehicle is kept in a yaw stability state. The method of the invention is successfully realized by the controller through FPGA full hardware, the FPGA uses a parallel hardware calculation method for acquiring the optimized control sequence in a limited sampling time domain, requirements of high real-time performance and miniaturization on the vehicle-mounted nonlinear model predictive controller can be met, and the calculation performance of the control system is improved.

Description

technical field [0001] The invention relates to a vehicle active safety control method, in particular to a vehicle lateral stability nonlinear integrated control method. Background technique [0002] With the rapid development of the modern automobile industry, the number of automobiles in today's society is increasing, which leads to corresponding problems: road traffic pressure is increasing, and traffic accidents occur frequently. The severe traffic situation has made people pay more and more attention to the active safety of vehicles. The simple superposition of electronic control systems can no longer meet the needs, and integrated control has become the trend of active safety research in recent years. The integrated control of active front wheel steering and direct yaw moment can not only further improve the stability of the vehicle, but also reduce the impact of braking on the longitudinal dynamics and improve the driving comfort of the vehicle. In this paper, in ord...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 郭洪艳郝宁峰麻颖俊陈虹
Owner JILIN UNIV
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