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主題詞:操控性 后輪轉向 直接橫擺力矩
中圖分類號:U461.1;U461.6" 文獻標志碼:A" "DOI: 10.19620/j.cnki.1000-3703.20231032
Research on Vehicle Handling Adjustable Control Method Based on the Integration of Rear Wheel Steering and Braking
Zhao Yongqiang1, Guan Yihang2, He Zhen2, Miao Weiwei1, Yu Zhen1
(1. China FAW Group Co., Ltd., Changchun 130013; 2. Harbin Institute of Technology, Harbin 150000)
【Abstract】To address the issue of understeer, difficulty in control effect calibration, complex controller design and difficulty in engineering application, this article proposed a novel approach to vehicle handling control by enabling adaptable rear wheel steering and braking intensity. Employing nonlinear model design and a feedforward/feedback structure, this method can adjust control intensity according to design parameters, allows for improving the vehicle’s center of mass sideslip angle according to expectation and enhancing yaw response speed. In addition, the approach also accommodates understeer mitigation and fuel economy optimization. In addition, the proposed method also has other advantages such as high accuracy, small computational complexity, no need for vehicle sideslip angle estimation, and ease of calibration. A method for vehicle handling tuning based on adjustable parameters is also provided.
Key words: Handling performance, Rear Wheel Steer (RWS), Direct Yaw Moment Control (DYC)
1 前言
后輪轉向(Rear Wheel Steer,RWS)的主要目標為減小質心側偏角,從而提高低速行駛時汽車的轉向靈活性及高速行駛時的穩定性[1-4]。通常,希望將質心側偏角減小至0[2,5-8],但會帶來駕駛員操作負擔增大、汽車操控性劣化等問題[5]。此外,模型預測控制[10-11]、H∞控制[8]等方法計算量大、難以標定,不利于工程應用。
基于制動系統的直接橫擺力矩控制(Direct Yaw Moment Control,DYC)可提高瞬態橫擺響應速度,直接橫擺力矩越大,提升效果越明顯[9-11]。然而,過大的直接橫擺力矩會造成減速及拖拽感明顯,影響駕駛體驗[12],同時,車輛能耗增加,續駛里程下降[13]。
為實現預期車輛行駛控制效果,本文針對控制強度標定需求,提出含有3個可調參數的RWS與DYC協同控制方法。
2 非線性二自由度模型
為描述車輛的橫擺與側向運動,建立非線性二自由度模型,如圖1所示。……