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A sliding mode control method for optimizing vehicle yaw dynamic performance under all operating conditions

A technology of dynamic performance and control method, which is applied in the field of sliding mode control for optimizing the dynamic performance of vehicle yaw, and in the field of yaw dynamic sliding mode control, which can solve the problem of slow steering response of vehicles, affecting vehicle yaw stability performance, and lack of yaw dynamic control Technology and other issues to achieve the effect of optimizing dynamic response performance

Active Publication Date: 2022-07-15
HARBIN INST OF TECH
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AI Technical Summary

Problems solved by technology

[0002] The vehicle has the following characteristics when turning: 1. Under normal working conditions, the yaw dynamics show over-damping or large damping characteristics; under extreme working conditions, the yaw dynamics show under-damping characteristics; Dynamic over-damping or large damping characteristics lead to slow yaw response, making the vehicle steering response sluggish, under extreme conditions, yaw dynamic under-damping characteristics lead to large overshoot of yaw rate, affecting the yaw stability of the vehicle
[0003] Vehicle yaw stability control is an important active safety system to ensure vehicle driving safety, but the existing yaw stability control strategy mainly focuses on the tracking accuracy of yaw rate, which belongs to yaw stability performance, or discusses yaw for specific limit conditions Rate dynamic control performance, lack of yaw dynamic control technology under all working conditions

Method used

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  • A sliding mode control method for optimizing vehicle yaw dynamic performance under all operating conditions
  • A sliding mode control method for optimizing vehicle yaw dynamic performance under all operating conditions
  • A sliding mode control method for optimizing vehicle yaw dynamic performance under all operating conditions

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Embodiment Construction

[0054] The technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, based on the present invention The embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, fall within the protection scope of the present invention.

[0055] The invention discloses a sliding mode control method for optimizing vehicle yaw dynamic performance under all working conditions, comprising the following steps:

[0056] Step 1: Establish a two-degree-of-freedom vehicle dynamics equation that can characterize the vehicle yaw rate and lateral velocity dynamics,

[0057]

[0058]

[0059] where m is the vehicle mass, I z is the moment of inertia of the vehicle around the z-a...

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Abstract

A sliding mode control method for optimizing vehicle yaw dynamic performance under all working conditions relates to a yaw dynamic sliding mode control method. Establish a two-degree-of-freedom vehicle dynamics equation that can characterize the vehicle yaw rate and lateral velocity dynamics; design the sliding mode surface and express the sliding mode control law to ensure the stability of the closed-loop system according to the expected yaw rate, lateral velocity and roll angular velocity formula; give the index to describe the dynamic performance of the yaw response through the yaw rate overshoot and the adjustment time; give the mathematical expression for calculating the yaw rate overshoot and the adjustment time; by solving the optimization problem, get the yaw dynamic Optimal sliding mode control law parameters. By designing a sliding mode controller and adjusting the parameters of the sliding mode surface to realize the adjustment of the yaw rate overshoot and the adjustment time, the deficiencies of the existing yaw stability control are improved, and the dynamic response performance of the vehicle yaw can be guaranteed to be optimized under all working conditions. Sliding mode control method.

Description

technical field [0001] The invention relates to a yaw dynamic sliding mode control method, in particular to a sliding mode control method for optimizing vehicle yaw dynamic performance under all working conditions, and belongs to the field of vehicle drive control. Background technique [0002] The vehicle has the following characteristics when turning: 1. Under normal working conditions, the yaw dynamic performance is over-damping or large damping characteristics, and under extreme working conditions, the yaw dynamic performance is under-damping characteristics; Dynamic over-damping or large damping characteristics lead to slow yaw response and slow vehicle steering response. Under extreme conditions, the dynamic under-damping characteristics of yaw lead to large overshoot of yaw rate, which affects the yaw stability performance of the vehicle. [0003] Vehicle yaw stability control is an important active safety system to ensure vehicle driving safety, but the existing yaw ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/02B60W40/10
CPCB60W30/02B60W40/10
Inventor 周洪亮贾凤娇刘志远
Owner HARBIN INST OF TECH
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