汽车液压式主动稳定杆设计及控制算法

针对车辆主动侧倾控制问题,基于车辆侧倾与横摆响应特性分析,提出一种液压式主动稳定杆(active stabilizer bar, ASB)系统的设计方案。设计滑模控制算法,以提高车辆的侧倾稳定性。对前、后轴主动式稳定杆的反侧倾力矩进行动态分配,以改善车辆的转向特性。基于MATLAB/Simulink,建立了14自由度整车动力学模型、液压系统模型、路面输入模型等,在典型工况下分别对PID+前馈控制和滑模控制系统进行仿真研究。仿真结果表明:与传统的PID+前馈控制相比,采用滑模控制算法的液压式ASB系统在鲁棒性和适应性方面具有明显优势,有效地改善车辆的侧倾与横摆响应,进一步提高了车辆的侧倾稳定性、行驶平顺性与操纵稳定性。

Design of vehicle hydraulic active stabilizer bar and its control algorithm

According to vehicles active roll control, a design solution to hydraulic active stabilizer bar(ASB)system was put forward based on the analysis of vehicles roll and yaw response characteristics. The structure and principle of hydraulic ASB system was introduced, and its sliding mode control algorithm was designed to improve the vehicles roll stability. The anti-roll torque of ASB system on the front and rear axles were distributed dynamically to improve vehicles steering characteristics. Based on MATLAB/Simulink, 14 degree-of-freedom vehicle, hydraulic actuators model, road input model and so on were established. The simulation of PID+feedforward control and sliding mode control system was carried out under typical maneuvers. Simulation results showed that the hydraulic ASB system using sliding mode control algorithm had obvious advantage in the robustness and adaptability compared with PID+feedforward control, which could enhance vehicle roll and yaw response effectively, and improve roll stability, ride comfort and handling stability further.