论文摘要
Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.
论文目录
文章来源
类型: 期刊论文
作者: Buyang Zhang,Changfu Zong,Guoying Chen,Yanjun Huang,Ting Xu
来源: Chinese Journal of Mechanical Engineering 2019年01期
年度: 2019
分类: 工程科技Ⅱ辑
专业: 汽车工业
单位: College of Automotive Engineering, Jilin University,State Key Laboratory of Automotive Simulation and Control, Jilin University,College of Mechanical and Mechatronics Engineering, University of Waterloo
基金: Supported by National Natural Science Foundation of China(Grant No.51505178),China Postdoctoral Science Foundation(Grant No.2014M561289)
分类号: U463.6
页码: 174-194
总页数: 21
文件大小: 4297K
下载量: 51
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