Study on Fuzzy Sliding Mode Control Algorithm of Vehicle Stability Control After a Tire Blowout
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摘要: 汽车在爆胎过程中会出现侧倾、侧翻和甩尾等危险情况，严重威胁了行驶汽车的安全性。为了保证爆胎汽车在行驶过程的稳定性，提高爆胎汽车的鲁棒性和自适应性，在目前汽车爆胎控制算法研究的基础上，提出了一种模糊滑模控制算法。利用UniTire模型建立了爆胎汽车的轮胎模型，并运用Carsim软件搭建爆胎汽车的整车模型。设计了模糊滑模控制器对横摆力矩进行非线性控制，再根据传统的电子稳定性控制理论，对各个车轮施加不同的制动压力，来保证爆胎汽车的稳定运行。在直行与弯道工况下，利用Carsim软件与Simulink模型进行联合仿真实验。实验结果表明，设计的控制器能够有效的提高爆胎汽车的稳定性，汽车的横摆角速度、质心侧偏角、侧向加速度和侧向位移都明显减小。Abstract: After a tire burst, the vehicle may roll, rollover or drift to cause dangerous conditions, which seriously threaten the driving safety. In order to guarantee the vehicle stability and improve its robustness and adaptability after the tire blowout, a fuzzy sliding mode control algorithm is proposed on the basis of the current tire-burst control algorithm. The tire burst model is built by using UniTire model, and the vehicle model is built by using Carsim software. A fuzzy sliding mode controller is designed for nonlinear control of yaw moment. Different braking pressures are applied to each wheel to ensure the stable operation of the vehicle after the tire blowout according to the traditional electronic stability control theory. In order to verify the algorithm, the tire burst simulation was done under the straight and curved working conditions by using Carsim software and Simulink model. The results show that, after a tire blowout, the designed controller can control the vehicle stability effectively, and the yaw rate, sideslip angle, lateral acceleration and lateral displacement are reduced obviously.
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Key words:
- tire blowout /
- vehicle stability /
- fuzzy sliding mode control /
- tire model /
- braking force distribution
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表 1 模糊控制规则表
Δr Δβ NB NM NS ZO PS PM PB NB
NM
NS
NO
PO
PS
PM
PBPB
PB
PM
PM
PM
PS
ZO
ZOPB
PB
PM
PS
PM
PS
ZO
NSPB
PM
PM
PS
PS
ZO
NM
NMPB
PM
PM
ZO
Z0
NM
NM
NBPM
PM
PS
NS
NS
NM
NB
NBPS
NS
ZO
NS
NS
NM
NB
NBZO
ZO
NS
NM
NM
NM
NB
ZB
下载: 导出CSV
表 2 制动力分配策略
爆胎情况 ΔMZ>0 ΔMZ < 0 左前轮爆胎 右后轮(主)右前轮(从) 左后轮(主)左前轮(从) 右前轮爆胎 右后轮(主)右前轮(从) 左后轮(主)左前轮(从) 左后轮爆胎 右后轮(主)右前轮(从) 左前轮(主)左后轮(从) 右后轮爆胎 右前轮(主)右后轮(从) 左后轮(主)左前轮(从)
下载: 导出CSV
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