基于零力矩点的车辆侧倾评价指标及侧倾控制研究

为了使车辆的行驶状态和稳定程度更为便捷的显现出来，以及对系统研发初期的效果进行评价，需要引入一个比较准确的评价指标，使其可以判断并量化车辆的侧倾稳定性，因此将零力矩点(Zero-moment point,ZMP)的概念引入到车辆的侧倾评价体系之中，通过对车辆侧倾模型以及刚性车辆模型零力矩点的推导，从而来预测车辆的侧倾倾向，并得出车辆的侧倾指数y_zmp，根据其侧倾指数y_zmp算出侧倾指标s；再通过与其他现有侧倾评价指标的对比与转换，从而证明该指标的准确性以及有效性。之后，再以某19座商用车为例，建立整车模型，并设计H_∞鲁棒控制的算法对半主动横向稳定杆的侧倾刚度进行实时调节，最后通过Trucksim和Simulink联合仿真来验证两种控制方法的有效性，同时，以侧倾指标来对比判断鲁棒控制算法的半主动横向稳定杆与被动横向稳定杆、模糊PID控制的半主动横向稳定杆对于侧倾运动的改善效果。根据仿真结果显示，半主动横向稳定杆相对于被动横向稳定杆来说，其在各个侧倾参数上都有明显的降低，并且相较于模糊PID控制的半主动横向稳定杆，H

Vehicle Roll Evaluation Index Based on ZMP Position and Roll Control Research

In order to facilitate the judgment of the driving state and stability of the vehicle, and to evaluate its effect in the early stage of system development, it is necessary to have a more accurate evaluation index to judge the stability of the vehicle. Therefore, the concept of zero moment point (ZMP) introduced into the vehicle's roll evaluation system, and the roll tendency of the vehicle is predicted by deriving the rigid vehicle model and the vehicle roll model zero moment point, the roll index y_zmp is obtained and its roll indicator s is calculated, the correctness and effectiveness of the index are proved by comparison with other current roll indicators. Then, taking a 19-seat commercial vehicle as an example, the vehicle model was established, The robust control method and fuzzy PID control method are used to adjust the roll stiffness of the semi-active stabilizer bar in real time. Finally, the effectiveness of the two control methods is verified by the joint simulation of Trucksim and Simulink. To compare and judge the improvement effect of semi-active stabilizer bar and passive stabilizer bar on the roll motion by using indicators. According to the simulation results, the semi-active stabilizer bar has a significant reduction in all roll parameters compared to the passive stabilizer bar. Compared with the semi-active stabilizer bar controlled by fuzzy PID, it is more robustly controlled. The semi-active stabilizer bar has a certain degree of reduction in all roll parameters. Among them, the roll angle has dropped by 14.7%, the lateral acceleration has dropped by 21.3%, the yaw rate has dropped by 25.6%, and the center of mass slip angle has dropped by 23.4%. Compared with fuzzy PID control, its control effect is better, and the vehicle roll coefficient is also reduced from 0.721 to 0.645, which is similar to the degree of reduction of other parameters. It also shows the effectiveness of the proposed roll evaluation index from another aspect.