基于集成式线控液压制动系统的车辆稳定性控制

摘要

为提高汽车在极限工况下的行驶稳定性,提出了一种基于集成式线控液压制动(IEHB)系统的车辆动力学稳定性控制策略.在多学科领域复杂系统建模仿真平台(AMESim)中建立了IEHB执行机构、15自由度非线性车辆动力学物理仿真模型;采用分层控制构架,运用线性比例控制与非线性补偿控制设计了横摆力矩控制层,设计了制动力矩分配层和执行层以保证被控车辆对参考模型层输出的跟踪品质.结果表明:相比于基于传统车身电子稳定性控制系统(ESC)的动力稳定性控制系统,横摆角速度峰值跟踪误差减少13.6%,收敛时间缩短1.3 s,侧倾角、侧偏角、侧向加速度等也均有明显改善,车辆行驶稳定性显著提高.因而,本控制方法能确保车辆在极限工况下快速、准确地跟踪参考模型输出.%A vehicle dynamics control strategy based on integrated-electro-hydraulic brake system (lEHB) was proposed to improve the driving stability of vehicle under extreme conditions. lEHB system actuator and a 15- DoF vehicle nonlinear dynamics physical simulation model were established in advanced modeling environrnent for performing simulation of engineering systems (AMESim). A hierarchical control structure adopted: yaw moment control layer was designed by utilizing linear proportional control and nonlinear compensation control method; The design of braking torque distributing layer and actuating layer ensured tracking quality of the controlled vehicle to output of reference model layer. The results show that the proposed control method can make the plant track the reference model output under extreme conditions rapidly and accurately. Compared with vehicle dynamics stability control system based on conventional electronic stability control system (ESC),the peak tracking error of yaw rate is reduced by 13.6%, and the convergence time is shortened by 1.3 s. The performance of some vital dynamic parameters, including roll angle, sideslip angle and lateral acceleration, are significantly improved. Vehicle driving stability is optimized remarkably. Therefore, this control method can guarantee the vehicle quickly and accurately track the output of reference model under extreme driving condition.