【摘要】 为提高车辆转向工况下的行驶稳定性与主动安全性，研究提出了一种基于质心侧偏角动态观测的主动前轮转向控制策略。首先，基于车辆运动学模型和扩展卡尔曼滤波（Extended Kalman Filter,EKF）算法，设计了用于质心侧偏角实时估计的动态观测器，便于主动前轮转向控制器的设计；然后，以固定横摆角速度增益为基础，设计了自适应变传动比控制方法，并针对传统滑模存在的响应速度、稳定性同系统抖振相矛盾的问题，设计了一种改进滑模控制（ImprovedSliding Mode Control,ISMC）的主动前轮转向控制器；最后，基于Simulink-CarSim软件搭建的联合仿真平台进行验证，仿真结果表明，提出的主动前轮转向控制策略相较于比例、积分、微分（Proportional、Integral Derivative,PID）控制与滑模控制（Sliding Mode Control,SMC），可以更为有效地补偿前轮转角，提高了车辆的行驶稳定性，实现了车辆的主动转向功能。更多还原

【Abstract】 To enhance the driving stability and active safety of vehicles under steering conditions, a control strategy for activefront-wheel steering based on dynamic observation of the center of mass sideslip angle is proposed. Firstly, a dynamic observer forreal-time estimation of the center of mass sideslip angle is designed based on the vehicle kinematic model and the Extended Kal-man Filter(EKF) algorithm, facilitating the design of the active front-wheel steering controller. Then, an adaptive variabletransmission ratio control method is designed based on a fixed yaw rate gain. To address the contradiction between the responsespeed, stability and system chattering in traditional sliding mode control, an Improved Sliding Mode Control(ISMC) active front-wheel steering controller is designed. Finally, the proposed control strategy is verified on a co-simulation platform based on Simu-link-CarSim software. The simulation results show that the proposed active front-wheel steering control strategy can more effective-ly compensate for the front-wheel steering angle compared with Proportional Integral Derivative(PID) control and Sliding ModeControl(SMC), improving the driving stability of the vehicle and realizing the active steering function.更多还原