基于动态稳定域的LPV/H∞车辆横纵向稳定协同控制

doi:10.3901/JME.2025.06.228

机械工程学报 ›› 2025, Vol. 61 ›› Issue (6): 228-237.doi: 10.3901/JME.2025.06.228

• 运载工程 • 上一篇

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基于动态稳定域的LPV/H_∞车辆横纵向稳定协同控制

王珊珊¹, 梁军¹, 陈龙¹, 陈逢强², 华国栋³

1. 江苏大学汽车工程研究院镇江 212013;
2. 宝胜系统集成科技股份有限公司扬州 225800;
3 江苏智行未来汽车研究院南京 210000

收稿日期:2024-03-21 修回日期:2024-11-07 发布日期:2025-04-14
作者简介:王珊珊，女，1998年出生。主要研究方向为智能车主动安全控制。E-mail:18852860398@163.com;梁军(通信作者)，男，1976年出生，博士，教授，博士研究生导师。主要研究方向为智能车辆与智能交通。E-mail:liangjun@ujs.edu.cn;陈龙，男，1958年出生，博士，教授，博士研究生导师。主要研究方向为道路交通安全，车辆主动安全技术以及车辆动态仿真与控制。E-mail:chenlong@ujs.edu.cn;陈逢强，男，1972年出生，高级工程师。主要研究方向为智能车库机械设计。E-mail:55414911@qq.com;华国栋，男，1975年出生，硕士，工程师。主要研究方向为软件系统架构设计。E-mail:freehgd@126.com
基金资助:
国家重点研发计划(2018YFB1600500)和扬州市宝应县重点研发计划(BY201908)资助项目。

LPV/H_∞ Based on Dynamic Stability Region Cooperative Control of Vehicle Lateral and Longitudinal Stability

WANG Shanshan¹, LIANG Jun¹, CHEN Long¹, CHEN Fengqiang², HUA Guodong³

1. School of Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013;
2. Baosheng System Integration Technology Company Limited, Yangzhou 225800;
3. Jiangsu Zhixing Future Automobile Research Institute, Nanjing 210000

Received:2024-03-21 Revised:2024-11-07 Published:2025-04-14

摘要/Abstract

摘要： 针对智能车在极限工况下行驶稳定性与操纵性难以同时保障的问题，提出一种基于动态稳定域的线性参数时变(Line parameter varying,LPV)/H_∞横纵向稳定协同控制方法。首先，结合双线法与横摆角速度法构建基于β-β'相平面的闭合动态稳定域，并设计动态裕度以提升极限工况下的边界稳定控制性能；其次，构建基于动态稳定域的横纵向协同控制策略，且在此基础上设计LPV/H_∞横纵向稳定协同控制器，以解决车辆稳定性与操纵性间的冲突弊端；最后，选取高速低附着双移线工况验证横纵向稳定控制方法的有效性。试验结果表明，所提出的横纵向稳定协同控制器在极限工况下控制效果较好，被控车辆能迅速回稳，同时避免短暂失稳，提升了车辆稳定性和实际操纵性能，且所提控制方法对系统参数扰动具有较强的鲁棒性，为车辆主动安全控制提供理论支持。

关键词: 横纵向稳定协同控制, 相平面, 动态稳定域, LPV/H_∞控制

Abstract: Aiming at the problem that the driving stability and maneuverability of intelligent vehicles are difficult to be guaranteed simultaneously under extreme working conditions, a dynamic stability domain-based linear parametric varying(LPV/H_∞) lateral-longitudinal stability cooperative control method is proposed. Firstly, a closed dynamic stability domain based on the β-β' phase plane is constructed by combining the bilinear method and the lateral swing angular velocity method, and the dynamic margin is designed to improve the boundary stability control performance under the ultimate working condition; secondly, a lateral-longitudinal cooperative control strategy based on the dynamic stability domain is constructed, and on this basis, the LPV/H_∞ lateral-longitudinal stability cooperative controller is designed to solve the conflict drawback between vehicle stability and maneuverability; finally, a high-speed low Finally, the effectiveness of the lateral-longitudinal stability control method is verified by selecting the high-speed and low attachment double-shift line condition. The experimental results show that the proposed lateral-longitudinal stability cooperative controller has a good control effect under extreme working conditions, enabling the controlled vehicle to quickly regain stability while avoiding transient instability. This approach enhances vehicle stability and actual maneuvering performance. Moreover, the proposed control method exhibits strong robustness to system parameter disturbances, providing theoretical support for active vehicle safety control.

Key words: lateral and longitudinal stability coordinated control, phase plane, dynamic stability region, LPV/H_∞ control

中图分类号:

U471

王珊珊, 梁军, 陈龙, 陈逢强, 华国栋. 基于动态稳定域的LPV/H_∞车辆横纵向稳定协同控制[J]. 机械工程学报, 2025, 61(6): 228-237.

WANG Shanshan, LIANG Jun, CHEN Long, CHEN Fengqiang, HUA Guodong. LPV/H_∞ Based on Dynamic Stability Region Cooperative Control of Vehicle Lateral and Longitudinal Stability[J]. Journal of Mechanical Engineering, 2025, 61(6): 228-237.

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基于动态稳定域的LPV/H_∞车辆横纵向稳定协同控制

LPV/H_∞ Based on Dynamic Stability Region Cooperative Control of Vehicle Lateral and Longitudinal Stability

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基于动态稳定域的LPV/H∞车辆横纵向稳定协同控制

LPV/H∞ Based on Dynamic Stability Region Cooperative Control of Vehicle Lateral and Longitudinal Stability

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基于动态稳定域的LPV/H_∞车辆横纵向稳定协同控制

LPV/H_∞ Based on Dynamic Stability Region Cooperative Control of Vehicle Lateral and Longitudinal Stability