Vehicle traveling stability controlling method and system based on extension sliding mode wire controlling

Abstract

The invention discloses a vehicle traveling stability controlling method and system based on extension sliding mode wire controlling. The method comprises the following steps that S1, the vehicle reference heading angle speed information and the actual heading angle speed information in the actual traveling process of a vehicle are obtained; S2, the actual heading angle speed deviation and the derivative of the actual heading angle speed deviation are extracted and form a characteristic state; S3, sliding mode controllers are established, expanding design of the sliding mode controllers in different value ranges is conducted based on the extension set of the extension theory, so that extension sliding mode controllers are established in a universal range; S4, according to the characteristics state, the extension set is divided, the correlation functions controlled by extension in different set states are calculated, and controlling strategies are distributed to different measurement modes according to the correlation function dividing a measurement mode; and S5, according to the extension sliding mode controller, an ideal front wheel intersection angle in different measurement modes is output, and the actual vehicle front wheel intersection angle tracks the vehicle ideal front wheel intersection.

Description

technical field [0001] The invention relates to the technical field of vehicle steering by wire, in particular to a method and system for controlling driving stability of a wire-by-wire vehicle based on an extension sliding mode. Background technique [0002] Traditional automotive steering systems include mechanical steering systems, hydraulic power steering systems, and electric power steering systems, all of which retain a mechanical connection between the steering wheel and the steering wheels, so there is a ratio between the steering wheel angle and the steering wheels during the steering process of the car. That is, the steering angle transmission ratio does not change with the speed of the vehicle and the existence of the steering column threatens the personal safety of the driver. need. The Steer by Wire (SBW) system of the car cancels part of the mechanical connection between the steering wheel and the steering wheel, so that the steering characteristics of the car...

AI Technical Summary

Problems solved by technology

For example, the patent "Control Method for Automobile Steering by Wire System" (Chinese Patent Publication No.: CN102320326A) adopts the torque control position difference feedback type bidirectional servo control structure to avoid the steering executive module due to the position deviation between the steering wheel and the pinion. The large-scale rotation even reaches the limit position, the angular transmission ratio and force transmission ratio from the steering wheel to the pinion are variable, and the steering and timing control problems of the existing steer-by-wire system are realized, but the front wheel angle control algorithm is not involved. This patent controls the front wheel angle of the car through the SBW system. When the car has a tendency to lose stability, it eliminates the difference between the actual yaw rate and the reference yaw rate, actively corrects the motion state of the car, and restores the stability of the car.

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