Robust controller design method for vehicle yawing motion under limited communication condition

Abstract

The invention discloses a robust controller design method for vehicle yawing motion under a limited communication condition. The robust controller design method comprises the steps of: firstly, considering factors of transverse tire forces in the vehicle dynamics modeling process; generating front wheel steering angles indirectly through controlling the front wheel transverse tire forces, and performing effective control on the vehicle yawing motion; considering variation of tire cornering stiffness in the modeling process, and establishing a yawing motion control model with parameter uncertainty by utilizing a robust control algorithm, so that a controller has good robustness for system parameter variation; and finally, establishing a system controller for data packet dropout situation occurred under the limited communication condition, and analyzing random stability of the system controller, so as to realize effective control on a vehicle under harsh communication conditions. The robust controller design method utilizes a static output feedback method to avoid the use of transverse velocity information, and can realize vehicle yawing motion control over the vehicle by just utilizing vehicle yawing angular velocity information.

Description

technical field [0001] The invention relates to the technical field of vehicle controllers, in particular to a method for designing a robust controller for vehicle yaw motion under the condition of limited communication. Background technique [0002] The vehicle yaw motion control system is an important part of the vehicle's active safety system. It can effectively realize the driver's driving intention and improve the steering stability through the vehicle's active steering system. There are some problems in the existing yaw motion control system as follows: [0003] 1. Most of the existing studies use the front wheel active steering angle as the system control input, without considering the lateral tire force of the vehicle. If the lateral tire forces are saturated, the vehicle can easily go into a runaway state. Therefore, in the process of vehicle dynamics modeling, the factor of lateral tire force should be considered more. [0004] 2. Tire parameters, especially its...

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Problems solved by technology

In fact, the measurement of vehicle parameters is a complicated process, especially the measurement of lateral velocity, which requires expensive sensors, which is not conducive to its application in ordinary vehicles

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