Vehicle roll and yaw motion control system based on differential braking and active suspension and design method thereof

Abstract

The invention discloses a vehicle roll and yaw motion control system based on differential braking and an active suspension and a design method thereof. Based on the equation of state of a vehicle three degree of freedom steering-roll motion model, aiming at the time-varying problem of longitudinal velocity, assuming that the longitudinal vehicle velocity signal is available online, the change oflongitudinal vehicle velocity is transformed into the change of real-time longitudinal vehicle velocity and the change of the inverse, A Lyapunov matrix with longitudinal velocity dependent parametersis established, the state vector is reconstructed with the signals of lateral vehicle velocity, roll angle velocity, roll angle and yaw angle velocity, by utilizing the parameter-dependent H2 controlalgorithm, a vehicle roll motion and yaw motion controller is designed with the vehicle lateral acceleration, yaw angular velocity tracking error, roll angle and roll angle velocity as control targets, and the active suspension control force and differential braking system yaw torque are obtained. The controller considers the robust stability of the longitudinal vehicle velocity, and realizes thecontrol of vehicle roll motion and yaw motion.

Description

technical field [0001] The invention belongs to the field of vehicle differential braking and active suspension control, and in particular relates to a vehicle roll and yaw motion control system and a design method thereof using differential braking and active suspension as actuators. Background technique [0002] The current density of expressway network and the continuous increase of vehicle speed have led to the continuous increase in the frequency of vehicle rollover accidents. The casualties and economic losses caused by rollover accidents are second only to collision accidents. From the perspective of vehicle dynamics, there are two factors that cause the vehicle to roll and roll over: crosswind and steering operation. Among them, the steering operation under high-speed conditions is the main reason for the increase in the incidence of vehicle rollover accidents. [0003] In order to ensure the handling stability of the car, it is generally required that the tracking ...

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Problems solved by technology

[0005] Chinese invention patent (CN108681257A) proposes an adaptive robust anti-roll controller, but the design of this type of robust controller satisfies the same Lyapunov function for all uncertain parameters, although it meets the requirements of robustness , but sacrifices the performance of the vehicle roll and yaw motion controller

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