主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2024, Vol. 49 ›› Issue (19): 94-100.DOI: 10.16638/j.cnki.1671-7988.2024.019.019

• 设计研究 • 上一篇    

基于自适应高阶滑模的转向控制器设计

杨书姣 1，段敏 1，曹景胜 2   

  1. 1.辽宁理工职业大学 汽车工程学院； 2.辽宁工业大学 汽车与交通工程学院
  • 发布日期:2024-10-10
  • 通讯作者: 杨书姣
  • 作者简介:杨书姣（1985－），女，副教授，研究方向为汽车系统动力学及控制，E-mail:303333989@qq.com。
  • 基金资助:
    辽宁省教育厅科研项目（面上项目）（LJKMZ20220976）。

Design of Steering Controller Based on Adaptive High-order Sliding Mode

YANG Shujiao1 , DUAN Min1 , CAO Jingsheng2   

  1. 1.School of Automotive Engineering, Liaoning Vocational University of Technology; 2.Automobile and Traffic Engineering, Liaoning University of Technology
  • Published:2024-10-10
  • Contact: YANG Shujiao

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摘要： 针对车辆转向下的操作稳定性和侧倾稳定性不足等问题，研究前轮主动转向的非线性 滑膜控制，对汽车行驶稳定性研究有一定的指导意义。采用自适应高阶滑模控制方法结合 T-S 模糊建模方法，考虑轮胎侧偏角非线性变化，构建模型参数观测器实时获取轮胎动态参数。 通过 CarSim 和 MATLAB/Simulink 联合仿真，选取双移线和正弦停滞两种典型工况对质心侧 偏角、横摆角速度、侧向加速度等性能指标的自适应高阶滑模控制方法进行仿真验证。结果 表明，该方法能够改善线控转向系统对转角的动态响应性能；与传统滑模控制策略相比，该 策略的横摆角速度和侧向加速度最大值分别降低了 22.63%和 5.4%，能够提高车辆的操纵稳定 性。

关键词: 自适应模糊逻辑；高阶滑模控制；操纵稳定性；线控转向系统；CarSim；MATLAB/ Simulink

Abstract: Aiming at the problems of handling stability and lack of roll stability under vehicle steering, the study of nonlinear sliding mode control of front-wheel active steering has certain guiding significance for the study of vehicle driving stability. Adaptive higher-order sliding mode control method combined with Takagi-Sugeno (T-S) fuzzy modeling method is used to construct model parameter observer to obtain tire dynamic parameters in real time, considering the nonlinear change of tire side deflection angle. Through the joint simulation of CarSim and MATLAB/Simulink, two typical working conditions of double-shift line and sinusoidal stagnation are selected to simulate and validate the adaptive higher-order sliding mode control method for the performance indexes of center-of-mass lateral deflection, horizontal pendulum angular velocity, lateral acceleration, etc. The results show that this method can improve the dynamic response performance of steerable by wire system to angle; compared with the traditional sliding mode control strategy, the maximum yaw speed and lateral acceleration are reduced by 22.63% and 5.4%, respectively, which can improve the handling stability of the vehicle.

Key words: Adaptive fuzzy logic; Higher order sliding mode control; Handling stability; Linear steering system; CarSim; MATLAB/Simulink