Control algorithm with two-degrees-of-freedom regulator to improve braking lateral-stability
采用2-自由度调节器结构的制动方向稳定性控制算法

A compound controller was proposed to improve braking lateral-stability by integrated control of direct yaw-moment control and active front steer.The controller was designed with two-degrees-of-freedom(2-DOF) structure.Front steer angle and external lateral-force acted on the vehicle were regarded as input and disturbances,respectively.So tracking control for steering and disturbance rejection control were uncoupled by the 2-DOF regulator.Braking parameters of the control system were optimized as well.Control performance with steering input and mutation of road condition were investigated by simulation,and the results were compared with those without control.It was verified that the controller is effective on improving lateral stability of vehicle during brake.