基于模型参考滑模控制理论的整车安全控制.doc

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1、ModelReferenceSlidingModeControlforImprovingVehicleActiveSafetyLIJianfeng,GAOLi&LIUBirong(DepartmentofTrafficEngineering,BeijingInstituteofTechnology,Beijing,China)Abstract:Amodelreferenceslidingmodecontrollerwasdesignedtogenerateadditionalyawmomentoftheveh

2、icle.Thiscontrollerwasexpectedtomaketheyawratefollowthereferencemodel.Thereferencemodelwasdevelopedbasedontwodegreeoffreedomvehicledynamicstateequation.Theproposedsimulationmodelwasemployedtocalculatetheyawrateandslipangleresponsecharacteristicsofavehicleun

3、derseverecorneringmaneuver,anditshowsthatthesafetyofthevehicleissignificantlyimprovedascomparedtotheuncontrolledone.Keywords:vehicledynamicalmodel;yawrate;slidingmodecontroller1IntroductionDirectyawmomentcontrolisoneoftheadvancedcontrolsystemusedtoimproveth

4、eactivesafetyofroadvehicles[1-4].Underseveralconditions,themasscenterofthevehiclemaybeshiftedtoanundesirablepositionduetotheheavycargo,makingsuchvehicletobeover-steered.Thismeansthatthevehiclerequireadditionalyawmomenttoimproveitssafety.Vehiclesystemisavari

5、ableparameterandtimedependedsystemthatnecessitatesthedevelopmentofcontrollerswithspecialcapabilitiesinsolvingtheseproblems.ModelReferenceSlidingModeControl(MRSC)lawhasbeenprovedasuccessfulmethodindynamiccontrolsystems,thegoodtransientperformanceandrobustnes

6、scapabilitiesmadeitapopularchoicefordesigninggeneral-purposenonlinearcontrollers[5][6].Inthispaper,theMRSCtechniqueisusedtotheyawmomentcontrol.Therequiredyawmomentcanbegeneratedbythevehiclebrakingordrivingforcebetweenthewheels.Thereferencemodelisadoptedtoge

7、neratethedesiredvehicleperformance.TheMRSCisdesignedtomaketheactualvehicleresponsefollowtheoutputofreferencemodel.Finally,numericalsimulationswerecarriedouttoinvestigatethedynamicperformanceoftheneuralnetworkcontrollersystem.2VehicleModelforControllerDesign

8、Alinearvehiclemodeloftwodegreeoffreedombasedonlineartiremodelisdevelopedforthedesignofthecontrolsystem.Theequationsgoverningthelateralandyawmotionsinthelinearvehiclemodelcanbeexpressedasfollows(1)(2)In