基于模型参考滑模控制理论的整车安全控制.docVIP

Model Reference Sliding Mode Control for Improving Vehicle Active Safety LI Jianfeng, GAO Li LIU Birong (Department of Traffic Engineering, Beijing Institute of Technology, Beijing 100081, China) Abstract: A model reference sliding mode controller was designed to generate additional yaw moment of the vehicle. This controller was expected to make the yaw rate follow the reference model. The reference model was developed based on two degree of freedom vehicle dynamic state equation. The proposed simulation model was employed to calculate the yaw rate and slip angle response characteristics of a vehicle under severe cornering maneuver, and it shows that the safety of the vehicle is significantly improved as compared to the uncontrolled one. Keywords: vehicle dynamical model; yaw rate; sliding mode controller 1 Introduction Direct yaw moment control is one of the advanced control system used to improve the active safety of road vehicles[1-4]. Under several conditions, the mass center of the vehicle may be shifted to an undesirable position due to the heavy cargo, making such vehicle to be over-steered. This means that the vehicle require additional yaw moment to improve its safety. Vehicle system is a variable parameter and time depended system that necessitates the development of controllers with special capabilities in solving these problems. Model Reference Sliding Mode Control(MRSC) law has been proved a successful method in dynamic control systems, the good transient performance and robustness capabilities made it a popular choice for designing general-purpose nonlinear controllers[5][6]. In this paper, the MRSC technique is used to the yaw moment control. The required yaw moment can be generated by the vehicle braking or driving force between the wheels. The reference model is adopted to generate the desired vehicle performance. The MRSC is designed to make the actual vehicle response follow the output of reference model. Finally, numerical simulations were car