汽车多增益融合线控转向传动比及防侧翻控制

doi:10.3901/JME.2020.10.172

机械工程学报 ›› 2020, Vol. 56 ›› Issue (10): 172-180.doi: 10.3901/JME.2020.10.172

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汽车多增益融合线控转向传动比及防侧翻控制

金智林^1,2, 梁为何¹, 赵万忠¹

1. 南京航空航天大学车辆工程系南京 210016;
2. 重庆理工大学汽车零部件先进制造技术教育部重点实验室重庆 400054

收稿日期:2019-04-11 修回日期:2019-11-06 出版日期:2020-05-20 发布日期:2020-06-11
作者简介:金智林,男,1978年出生,副教授。主要研究方向为汽车电子及车辆动力学与控制。E-mail:jinzhilin@nuaa.edu.cn
基金资助:
国家自然科学基金（51775269）、中国博士后基金（2017M610326）和汽车零部件先进制造技术教育部重点实验室开放课题基金（2016KLMT05）资助项目。

Multi-gains Ratio of Steer-by-wire System and Anti-rollover Control for Vehicle

JIN Zhilin^1,2, LIANG Weihe¹, ZHAO Wanzhong¹

1. Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;
2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 400054

Received:2019-04-11 Revised:2019-11-06 Online:2020-05-20 Published:2020-06-11

摘要/Abstract

摘要： 转向传动比是汽车操纵稳定性及主动安全性的重要影响因素，理想转向传动比忽略转向执行机构影响，仅考虑汽车单一运动稳定性，难以实现汽车主动转向防侧翻实际要求。考虑线控转向执行机构动力学特性，提出融合汽车横摆、横向及侧倾运动增益的线控转向传动比，设计多增益融合转向传动比的主动转向防侧翻控制策略。建立线控转向系统模型，分析线控转向系统动力学特性；由汽车系统动力学理论求解横摆运动、横向运动及侧倾运动的转向传动比增益，采用遗传算法进行不同工况的转向传动比优化，获得多增益融合线控转向传动比；根据典型工况汽车稳定性分析规律，设计多增益融合线控转向传动比的汽车主动转向防侧翻控制策略。实例仿真结果表明，多增益融合线控转向传动比能同时改善车辆低速转向灵活性和高速转向稳定性，设计的控制策略在绊倒型及非绊倒型工况均能够有效地防止汽车侧翻，减少控制器对驾驶员转向意图的干预。

关键词: 线控转向, 多增益融合转向传动比, 防侧翻控制, 绊倒型侧翻, 汽车主动安全

Abstract: The ratio of the steering system is an important factor that affects vehicle handling stability and active safety. The traditional ideal ratio ignores the influence of the steering system structure and only considers single motion stability, which makes it difficult to achieve the requirement of active steering rollover prevention. Taking the dynamic characteristics of the steer-by-wire (SBW) system into consideration, a multi-gains ratio of the SBW system is proposed, and an anti-rollover control strategy is studied for a vehicle with SBW system. At first, the model is built to obtain the dynamic characteristics of the SBW system. Then, the multi-gains ratio is deduced combining yaw, lateral, roll motion of the vehicle, and optimized by genetic algorithm. In addition, the anti-rollover control strategy is designed base on the dynamic stabilities of the vehicle with a multi-gains ratio SBW system. As a result, the multi-gains ratio of the SBW system can improve the flexibility at low speed and stability at high speed. Furthermore, the proposed anti-rollover strategy can effectively prevent the vehicle rollover under both tripped and untripped rollover conditions, and reduce the intervention on the driver's steering intention.

Key words: steer-by-wire, multi-gains ratio, anti-rollover control, tripped rollover, vehicle active safety

中图分类号:

U461

金智林, 梁为何, 赵万忠. 汽车多增益融合线控转向传动比及防侧翻控制[J]. 机械工程学报, 2020, 56(10): 172-180.

JIN Zhilin, LIANG Weihe, ZHAO Wanzhong. Multi-gains Ratio of Steer-by-wire System and Anti-rollover Control for Vehicle[J]. Journal of Mechanical Engineering, 2020, 56(10): 172-180.

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汽车多增益融合线控转向传动比及防侧翻控制

Multi-gains Ratio of Steer-by-wire System and Anti-rollover Control for Vehicle

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