| 汽车稳定性控制中横摆力矩决策的LQR方法 |
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| 引用本文： | 丁海涛,郭孔辉,陈虹. 汽车稳定性控制中横摆力矩决策的LQR方法[J]. 吉林大学学报(工学版), 2010, 40(3) |
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| 作者姓名： | 丁海涛 郭孔辉 陈虹 |
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| 作者单位： | 1. 吉林大学,汽车动态模拟国家重点实验室,长春,130022
2. 吉林大学,通信工程学院,长春,130022 |
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| 基金项目： | “863”国家高技术研究发展计划项目(2006AA1103103);;国家杰出青年基金项目(60725311);;吉林省科技发展计划项目(20090112) |
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| 摘 要： | 综合跟随理想横摆角速度的方法和抑制汽车质心侧偏角的汽车稳定性控制方法,提出了一种新的最优控制方法。以线性二自由度车辆操纵特性模型为控制目标,基于汽车横摆力矩与车辆状态偏差之间的动力学关系建立了控制系统模型。采用线性二次型调节器(LQR)方法进行了汽车横摆力矩的决策,实现了汽车稳定性控制。在硬件与驾驶员在环仿真试验台上的试验验证了LQR方法的控制性能。
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| 关 键 词： | 车辆工程 汽车稳定性控制 横摆力矩 线性二次型调节器(LQR)方法 硬件与驾驶员在环仿真试验台 |
LQR method for vehicle yaw moment decision in vehicle stability control |
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| DING Hai-tao,GUO Kong-hui,CHEN Hong. LQR method for vehicle yaw moment decision in vehicle stability control[J]. Journal of Jilin University:Eng and Technol Ed, 2010, 40(3) |
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| Authors: | DING Hai-tao GUO Kong-hui CHEN Hong |
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| Affiliation: | 1.State Key Laboratory of Automobile Dynamic Simulation;Jilin University;Changchun 130022;China;2.College of Communication Engineering;China |
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| Abstract: | Incorporating the 2 traditional vehicle stability control methods,the one is to follow the ideal yaw rate,the other is to limit the mass center sideslip angle,a new optimal control method was proposed.Following the linear 2-DoF vehicle handling performance model as control target,a control system model was built based on the dynamic relationship between the vehicle yaw moment and the vehicle state deviations.Using the linear quadratic regulator(LQR)method to decide the vehicle yaw moment required to stabliz... |
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| Keywords: | vehicle engineering vehicle stability control yaw moment linear quadratic regulator(LQR)method hardware-and-driver-in-the-loop simulation test rig |
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