基于制动与悬架系统的车辆主动侧翻控制的研究

摘要

For enhancing the rollover resistance of vehicle, a 10 DOF vehicle rollover dynamics model is established, and by applying vehicle dynamics and the feature of coupling between tire forces, an active vehicle rollover control strategy is proposed based on the collaboration between differential brake and semi-active suspension. Through the differential regulation of brake torque and the timely matching of damper force in semi-active suspension , the effective control of vehicle rollover is realized. According to the movement characteristics of sub-systems, a slip-rate-based integral sliding mode controller for brake system and a grey-fuzzy controller for suspension system are designed. The results of fish hook test simulations respectively with sole brake control, sole suspension control and integrated brake and suspension control show that compared with single system controls, the integrated brake and suspension control can effectively reduce the roll angle of vehicle in critical situations.%为提高车辆抗侧翻能力,建立了10自由度整车侧翻动力学模型,应用车辆动力学和轮胎力耦合特性,提出了一种基于差动制动和半主动悬架协同工作的车辆主动抗侧翻控制策略.通过对制动力矩的差动调节和半主动悬架阻尼力的适时匹配,实现对车辆侧翻的有效控制.根据子系统运动特性,设计了制动系统基于滑移率的积分滑模控制器和悬架系统灰模糊控制器.分别对制动、悬架控制及综合控制进行的鱼钩试验仿真结果表明,综合控制策略可有效降低危险时域车辆的侧倾角,相对于单一系统控制进一步提高了车辆抗侧翻能力.