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

Abstract

The invention discloses a vehicle roll and yaw motion control system based on differential braking and active suspension and a design method thereof, based on the state equation of the vehicle three-degree-of-freedom steering-roll motion model, aiming at the time-varying longitudinal velocity problem, Assuming that the longitudinal vehicle speed signal can be obtained online, the change of the longitudinal vehicle speed is transformed into the change of the real-time longitudinal vehicle speed and its reciprocal, and the Lyapunov matrix dependent on the longitudinal speed parameters is established. The signal is used to reconstruct the state vector, using the parameter dependence H 2 The control algorithm takes the vehicle lateral acceleration, yaw rate tracking error, roll angle and roll rate as the control objectives, designs the vehicle roll motion and yaw motion controller, and obtains the active suspension control force and the differential braking system lateral pendulum moment. The controller of the invention considers the robust stability of the longitudinal vehicle speed, and realizes the control of the rolling motion and the yaw motion of the vehicle.

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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