【摘要】 对四轮独立驱动-独立转向(4WID-4WIS)车辆横摆稳定性控制进行研究。对侧偏角与横摆角速度之间的耦合性进行分析,提出了控制策略:当质心侧偏角比较小时以理想横摆角速度跟踪控制为主,当质心侧偏角比较大时以抑制质心侧偏角过大为主。基于模糊控制技术提出集成"主动前/后轮转向+直接横摆力矩控制("FRD)的新型车辆横摆稳定性控制系统。仿真结果表明,与直接横摆力矩控制(DYC)的车辆相比,FRD可明显降低车辆的制动力矩和车轮纵向滑移率,确保车辆在低附着路面上高速行驶时具有良好的横摆稳定性。更多还原

【Abstract】 The yaw stability control of 4WID-4WIS vehicle was studied.The coupling relationship between vehicle side slip angle and yaw rate was analyzed.A fuzzy yaw stability controller composed of active front steering(AFS),active rear steering(ARS) and direct yaw moment control(DYC) was designed based on the following strategy—when side slip angle was small,the main aim was to follow the anticipant yaw rate,and when side slip angle was big,the main aim was to reduce vehicle side slip angle.Simulations results indicated that compared with vehicle controlled by DYC,vehicle controlled by AFS+ARS+DYC(RFD) reduced the braking tore and longitudinal slipping rate obviously,which ensured the vehicle yaw stability with high speed on low friction road.更多还原