Control Strategy of A Motor-type Active Anti-roll Stabilizer with Multiple Operating Modes
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摘要: 为兼顾不同工况下侧倾稳定性及平顺性，并考虑驾驶员驾驶习惯的差异性，本文提出并研究具有多工作模式的电机式主动横向稳定器（Electric active anti-roll stabilizer，EAAS）模糊控制策略。首先利用MATLAB/Simulink和Vehicle Network Toolbox建立具有EAAS的九自由度整车动力学仿真模型，然后采用Mamdani模糊控制方法，构建具有多工作模式的EAAS模糊控制策略，并利用角阶跃工况和鱼钩工况分别开展离线仿真，最后设计出EAAS电子控制单元及其半实物仿真台架，并通过半实物仿真进一步验证了EAAS模糊控制策略的有效性，主要研究结果表明，基于多工作模式的EAAS模糊控制策略能够有效提高车辆侧倾稳定性。
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关键词:
- 电机式主动横向稳定器 /
- 多工作模式 /
- 模糊控制策略 /
- 离线仿真 /
- 半实物仿真
Abstract: Taking into account the roll stability and ride comfort under different working conditions as well as differences of drivers' driving habits, this paper proposes the fuzzy control strategy of an electric active anti-roll stabilizer (EAAS) with multiple operating modes. Firstly, a nine-degree-of-freedom vehicle dynamic model of the EAAS is established by using the MATLAB/Simulink and Vehicle Network Toolbox. Then, the Mamdani fuzzy control method is used to construct the fuzzy control strategy of the EAAS with multiple operating modes. Its off-line simulation is carried out under the angle step condition and fishhook condition. Finally, the electronic control unit and HIL test-bed of the EAAS are designed respectively. The effectiveness of the fuzzy control strategy is further verified with the HIL simulation. The simulation results show that the fuzzy control strategy of the EAAS with multiple operating modes can effectively improve the vehicle's roll stability. -
表 1 EAAS内嵌电机部分参数
参数 数值 电机极对数P 4 电阻R/Ω 0.204 稳定器力臂长度b/m 0.13 转子转动惯量J/（kg·m2） 0.000196 电源电压V/V 12 稳定器长度c/m 0.85 
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表 2 模糊规则表
e ec NB NM NS ZO PS PM PB NB NB NB NB NB NM NM NS NM NB NB NM NM NM NM NS NS NM NM NS NS NS NS ZO ZO NM NS NS ZO PS PS PM PS ZO PS PS PS PS PM PM PM PS PM PM PM PM PB PB PB PS PM PM PB PB PB PB
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表 3 整车动力学仿真模型部分参数
参数 数值 参数 数值 ms/kg 1210 Iφ/（kg·m2） 1920 mui/kg 45 Ir/（kg·m2） 2000 m/kg 1390 kti/（N·m−1） 200000 kf/（N·m−1） 25000 kr/（N·m−1） 22000 cf/（N·s·m−1） 1600 cr/（N·s·m−1） 1500 a/m 1.13 Iθ/（kg·m2） 390 d/m 1.47 h/m 0.445 bs/m 1.48 G0/m3 6.4 × 10−5
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表 5 加载气缸主要参数
参数 数值 缸径/mm 50 活塞杆直径/mm 20 使用压力/MPa 0.1 ~ 1 活塞行程/mm 125 速度范围/（mm·s−1） 30 ~ 800 使用温度/℃ −5 ~ 70
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