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为提高汽车操纵稳定性,设计了一种新颖的两级分层操纵稳定性控制系统。分级控制系统的第一层是一基于线性矩阵不等式的鲁棒模型匹配控制器。当汽车处于不稳定行驶状态时,该控制器优化稳定整车操纵性的横摆控制力矩,并根据该横摆力矩计算目标控制车轮的滑移率。控制系统的第二层是一移动滑模控制器。该控制器可以在预定的时间内精确地跟踪第一层控制器输入的参考滑移率,并对目标控制车轮施加制动力矩来达到稳定汽车操纵性的目的。在各种极限行驶状况下的仿真试验表明,该控制器可以有效地提高汽车操纵稳定性,而且该控制器对不同车速,各种附着系数的路面和车辆物理参数的变化具有很好的鲁棒性。
In order to improve the steering stability of vehicle, a novel two-level stratified steering stability control system is designed. The first level of hierarchical control system is a robust model matching controller based on linear matrix inequality. When the vehicle is in unstable driving condition, the controller optimizes the yawing control torque that stabilizes the vehicle maneuverability and calculates the slip ratio of the target control wheel according to the yaw moment. The second floor of the control system is a sliding-mode controller. The controller can accurately track the reference slip rate input by the controller of the first floor within a predetermined time and apply a braking torque to the target control wheel for the purpose of stabilizing the vehicle maneuverability. The simulation results show that the controller can effectively improve the vehicle handling stability under various extreme driving conditions, and the controller is very robust to changes of road surface and vehicle physical parameters with different vehicle speeds and various adhesion coefficients Sex.