乘用车稳定性自抗扰控制策略

摘要

为了提高汽车驾驶过程中的安全性能，研究传统乘用车的操纵稳定性控制策略，并采用分层控制结构设计稳定性控制系统。控制策略包含参考模型、UniTire 轮胎模型、参数估计模块，控制量期望值计算模块、自抗扰控制（ADRC）部分及直接横摆力矩分配和滑移率控制模块。采用动力学计算的方法估计质心侧偏角，将估算得到的质心侧偏角和传感器采集得到的横摆角速度作为控制变量。当控制变量超过设定门限值时，采用 ADRC 计算横摆力矩。基于 UniTire 轮胎模型建立主动横摆力矩和车轮滑移率的关系确定目标滑移率，通过变参数 PID 实现滑移率控制。应用硬件在环仿真（HILS）平台分别进行单移线和双移线仿真实验，结果表明：所提出的稳定性控制策略能够提高车辆的操稳性能，使得控制变量能够紧密跟踪期望值。%The steering stability control strategy of traditional passager vehicle was investigated and an electronic stability control system based on hierarchical control strategy was designed to improve safety performance during vehicle driving . The control strategy insisted of reference model , UniTire model , parameter estimation model , desired parameter calculation model , active disturbance rejection control (ADRC) model ,direct yaw moment distrubution and slip ratio regulation model .First of all ,side slip angle was calculated using dynamics calculation method .Secondly ,take the evaluated side slip angle and the yaw rate obtained by sensors as control variables . When the control variables exceeded threshold value ,ADRC was adopted to calculate the yaw moment .In order to determine the target slip ratio ,the relation between active yaw moment and wheel slip ratio was built up based on the UniTire model ;the variable PID parameters were used to control slip ratio .Finally ,hardware in loop simulation (HILS) was taken under single line and double line conditions .Results show that the proposed stability controller strategy can improve the vehicle’ s controllability and stability , making the control variable track the expectation closely .