汽车操纵稳定性的自适应控制策略研究

针对汽车系统的非线性和参数不确定性,设计了一种“前馈+反馈”自适应神经模糊控制器,通过ESP和AFS的协调控制来提高汽车操纵稳定性.ESP反馈控制器采用模糊控制策略,以横摆角速度和质心侧偏角为控制目标;AFS前馈控制器采用径向基神经网络控制,以反馈控制器的输出作为误差进行学习,从而实现自适应控制.仿真结果表明,上述控制策略是可行和有效的,能显著改善汽车在高速或湿滑路面上的操纵稳定性.

Research on Strategy of Adaptive Control for Vehicle Handling Stability

In order to solve the problems of nonlinearity and parameters uncertainty of vehicle system,an adaptive neural-fuzzy controller with feedforward and feedback is designed,which improves the handling stability of vehicle by coordinated control of electronic stability program(ESP) and active front steering(AFS).The feedback controller with ESP uses fuzzy control strategy to control yaw rate and side slip angle,while the feed-forward controller with AFS adopts radial basis function(RBF) neural network with the output of feedback controller as the error for learning to achieve adaptive control.The results of simulation show that the control strategy is feasible and effective,and it can greatly improve handling stability of vehicle on high-way and slippery roads.