论文部分内容阅读
针对采用主动制动方式调节汽车操稳性能的系统提出了一种伪线性内模控制算法。首先建立估测算法确定汽车的车身侧偏角和车速,并建立了操稳控制的控制目标,然后引入四自由度车辆模型作为内模控制算法的内部模型,分析了由于制动而引起的非线性特性,并采用了逆系统方法将原来的非线性系统转化为伪线性系统,使得新系统的输入输出成线性关系,并基于此建立了内模控制器实现汽车操稳性能调节,最后采用主动转向和主动制动不同方式的汽车操稳控制系统进行了仿真比较,分析了各自的特点,并给出研究结论。
Aiming at the system that adopts active braking mode to adjust the vehicle handling performance, a pseudo-linear internal model control algorithm is proposed. Firstly, an estimation algorithm is established to determine the vehicle body slip angle and vehicle speed, and a control target of stability control is established. Then a four-DOF vehicle model is introduced as an internal model of the internal model control algorithm. Linear system and the inverse system is used to convert the original nonlinear system into a pseudo linear system so that the input and output of the new system become a linear relationship. Based on this, an internal model controller is set up to adjust the vehicle handling stability. Finally, Steering and active braking of different ways of vehicle stability control system were simulated and compared, analyzed their own characteristics, and gives the conclusions of the study.