非线性车辆稳定性的控制研究
Research on Control of Nonlinear Vehicle Stability

提出一种基于直接横摆力矩控制（DYC）和前轮主动转向（AFS）控制的车辆稳定性联合控制方法。在车辆非线性模型的基础上，利用质心侧偏角和侧偏角速度相平面图，确定车辆的稳定域。对处于稳定域之外的非线性车辆首先进行DYC控制，使车辆进入稳定域，在此基础上再进行AFS滑模控制，使实际车辆的质心侧偏角及横摆角速度跟踪理想值。仿真结果表明：采用该联合控制方法，与单独采用AFS控制相比，更加有效地提高了车辆稳定性。
Combining the Direct Yaw Moment Control (DYC) and Active Front Steering (AFS) control, we proposed a vehicle stability integrated control method. Based on the vehicle nonlinear model, the phase plane of sideslip angle and sideslip angular velocity were used to determine the vehicle stability region. For the vehicle outside the stability region, the DYC was used to make the vehicle into the stability region. Then the AFS sliding mode control was used to make the vehicle sideslip angle and yaw rate track those of the ideal vehicle model. The simulation results and their analysis show that the integrated control method improves the stability of vehicle more effectively than separately with the AFS controller