A method of afs/dyc integrated control based on pid-stsm

Abstract

The invention discloses a PID‑STSM-like AFS / DYC integrated control method, the main steps of which are: 1. Based on the vehicle two-degree-of-freedom model, a lateral acceleration a y 2. Obtain the controlled mathematical model by decoupling and introducing disturbance items; 3. Design a PID-like disturbance observer; 4. Design a compound based on a PID-like disturbance observer Super spiral controller; 5. Design active front wheel steering and direct yaw moment weight distribution strategy and four-wheel moment distribution scheme of direct yaw moment system based on vertical load. Advantages of the present invention: 1. The disturbance tracking accuracy is higher under the same parameters; 2. The control gain of the super-helix control is reduced, and the chattering of the system is reduced; 3. The limit longitudinal acceleration is corresponding to the limit front wheel angle, and the acceleration is omitted 4. The weight ratio distribution of the integrated control adopts a continuous function to avoid adverse effects caused by the system switching back and forth near the switching point.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a composite controller constructed based on software off-line programming to realize real-time tracking of the vehicle's desired yaw rate and mass center sideslip angle, 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 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 at the same time it has also caused some serious social problems, among which the safety of vehicles has become a global social problem . [0003] Due to the complexity of vehicle driving conditions, in order to improve the active safety performance of the vehicle, a series of vehicle active safety ...

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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