基于滑模变结构控制的车辆稳定性研究

摘要

Direct Yaw Moment Control ( DYC) can generate the additional yaw-moment needed to maintain vehicle stability in the limit conditions so to improve the active safety of a vehicle ’ s handling .Use the “Dugoff” tire model ,16-dof nonlinear vehicle model and 2-dof linear vehicle reference model was built by using the MATLAB /SIMULINK.Yaw rate DYC controller and side-slip angle DYC controller was designed by using sliding mode control theory .The results show that controller can effectively con-trol the vehicle yaw rate and slip angle under extreme conditions ,it can improve the vehicle stability .%直接横摆力矩控制（ Direct Yaw Moment Control ，DYC）能在极限工况下产生维持车辆稳定行驶所需的附加横摆力矩，从而提高车辆的主动安全性能。采用“Dugoff”轮胎模型，运用MATLAB/SIMULINK软件建立了十六自由度非线性车辆模型和二自由度参考模型，基于滑模变结构控制理论，分别设计了以横摆角速度为控制变量的DYC控制器和以质心侧偏角为控制变量的DYC控制器，并在极限工况下进行仿真。仿真结果表明：所设计的控制器能有效控制车辆的横摆角速度和质心侧偏角，提高了车辆的操纵稳定性。