AFS/DYC integrated control method based on similar PID-STSM

Abstract

The invention discloses an AFS / DYC integrated control method based on similar PID-STSM, and the method mainly comprises the steps: 1, constructing a side slip angle observer with a transverse acceleration ay and a yaw velocity gamma as feedback based on a vehicle two-degree-of-freedom model; 2, obtaining a controlled mathematical model by decoupling and introducing a disturbance term; 3, designing a PID-like disturbance observer; 4, designing a composite super-spiral controller based on a PID-like disturbance observer; and 5, designing an active front wheel steering and direct yawing moment weight distribution strategy and a direct yawing moment system four-wheel moment distribution scheme based on the vertical load. The method has the advantages that 1, the disturbance tracking precision is higher under the same parameters; 2, the control gain of superhelix control is reduced, and system buffeting is reduced; 3, the limit longitudinal acceleration corresponds to the limit front wheel rotation angle, an acceleration sensor is omitted, and meanwhile application is more convenient; and 4, a continuous function is selected for weight ratio distribution of integrated control, so that adverse effects caused by back-and-forth switching of the system near a switching point are avoided.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a software-based off-line programming and composite controller to realize real-time tracking of vehicle expected yaw rate and side slip angle of the center of mass, thereby ensuring the safety and stability of the vehicle. Background technique [0002] In recent years, with the development of society and economic growth, people's living standards have been greatly improved, and the number of global car ownership has also continued to rise. As an important means of transportation in modern society, the popularization of automobiles has brought great convenience to people's work and life, but it has also caused some serious social problems, among which the driving safety of vehicles has become a global social problem . [0003] Due to the complexity of the driving conditions of the vehicle, in order to improve the active safety performance of the vehicle, a series of vehicle active ...

AI Technical Summary

Problems solved by technology

However, the chattering problem of traditional sliding mode has limited its application

However, this method first needs to establish a suitable differential equation, and requires more complex offline calculations.

In addition, once the vehicle parameters change, the limit state needs to be recalculated offline, that is, this scheme is only applicable to one vehicle type

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