Automobile transverse stability control method based on nonsingular terminal sliding mode control

Abstract

The invention discloses an automobile transverse stability control method based on nonsingular terminal sliding mode control. Comprising the steps of obtaining key factors influencing the stability of a vehicle, obtaining threshold values of the yaw velocity and the side slip angle, obtaining the optimal additional yaw moment, obtaining the final additional yaw moment, designing an optimal four-wheel torque distribution algorithm, carrying out loading application and the like. The method has the beneficial effects that by completing modeling of vehicle dynamics, construction of a whole vehicle transverse dynamics system control model is completed on the basis, two yawing moments are solved through a nonsingular terminal sliding mode control algorithm on the basis of deviation between actual values and reference values of the yawing velocity and the side slip angle, and the stability of the whole vehicle transverse dynamics system control model is improved. Carrying out self-adaptive distribution on the two by utilizing a particle swarm algorithm to obtain a final yaw moment; finally, a simple and reliable optimal torque distribution algorithm is established to calculate the real-time four-wheel optimal torque, and the transverse stability performance of the intelligent automobile under the special driving working condition is improved.

Description

technical field [0001] The invention relates to a vehicle stability control method, in particular to a vehicle lateral stability control method based on non-singular terminal sliding mode control, and belongs to the technical field of vehicle control. Background technique [0002] With the rapid development of society, electric vehicles play an increasingly important role in the automotive and transportation industries. Among them, lateral stability control is one of the key technologies for the safe driving of distributed drive electric vehicles. Generally, lateral stability control refers to the control of the vehicle to stabilize under extreme conditions, such as driving on icy and snowy roads and facing sudden sharp turns when it may become unstable. [0003] At present, users' requirements for vehicle driving stability and safety performance are constantly improving, requiring vehicles to maintain good stability and reliability under relatively harsh driving conditions...

AI Technical Summary

Problems solved by technology

However, since the destabilization phenomenon of the vehicle is related to multiple parameters, the parts not considered in previous studies will lead to limited control performance. Therefore, from the perspective of system comprehensive control, real-time calculation of the optimal direct yaw moment considering multiple key factors is extremely important for the lateral dynamics control of the vehicle

In the lower layer torque distribution, most of the high-precision algorithms used in most studies require complex iterations, and then limited by the computing power of the on-board ECU in real vehicles, the use of complex high-precision algorithms will be limited

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