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研究了基于轮胎纵向制动力与侧向力动态分配的车辆稳定性控制策略,即根据车辆实时的运动状态调整前后轮纵向力与侧向力的值,从而产生变化的横摆力矩。采用二自由度的车辆横摆角速度作为参考值,与实际的横摆角速度进行比较,同时根据前后轮纵向力与侧向力对横摆角速度的作用,确定前后轮纵向力与侧向力的比值。最后与传统的单一纵向制动力调节进行比较,该控制方法不仅在能够在较低附着路面上进行横摆稳定性调节,而且实时的变纵向力与横向力比值调节,能够更快地使车辆回到理想的运动状态。
The strategy of vehicle stability control based on the dynamic distribution of longitudinal and lateral dynamic forces of tires is studied, ie the values of longitudinal force and lateral force of front and rear wheels are adjusted according to the real-time motion state of the vehicle, resulting in the change of yaw moment. The two-degree-of-freedom vehicle yaw rate is used as a reference value to compare with the actual yaw rate. At the same time, the ratio between the longitudinal force and the lateral force of the front and rear wheels is determined according to the effect of the longitudinal force of the front and rear wheels and the yaw rate of the lateral force . Finally, compared with the traditional single longitudinal braking force adjustment, the control method not only can adjust the yaw stability on the lower attachment road, but also real-time variable longitudinal and lateral force ratio, which can make the vehicle faster To the ideal state of exercise.