四轮转向与主动悬架的模型预测集成控制

摘要

针对车辆极限工况下的稳定性问题,提出一种四轮转向和主动悬架的集成控制算法.根据四轮转向单轨参考模型和主动悬架双轨模型,建立集成控制矩阵,利用模型预测算法设计集成控制器.在实车验证基础上,采用CarSim与Matlab联合仿真,获得了转向盘鱼钩输入下的车辆横摆角速度、质心侧偏角、车身侧倾角等特性曲线,分析了该典型极限工况下车辆的稳定性控制品质.结果表明,所设计的四轮转向与主动悬架的集成控制策略能够显著的改善车辆的操纵稳定性,解决失稳问题.%Focus on the vehicle stability in critical situations,a novel integrated control algorithm was proposed for the four-wheel steering and active suspensions system.A single-track reference model and a two-track active suspension model were established to induct the integrated control matrix.According the model prediction control algorithm,an integrated controller was designed.Using CarSim and Matlab,a whole vehicle model with the inte-grated controller was built and validated by real vehicle test data.Dynamics simulations were done to obtain the re-sponding curves to the fishhook steering input,including the yaw velocity,cornering angle of the vehicle mass cen-ter and the body roll angle etc.The stability control quality under this typical critical condition was discussed.The simulation results show that the integrated control system can significantly improve the stability of the vehicle.