采用"魔术公式"轮胎模型,在Matlab/Simulink中搭建了8自由度车辆侧向动力学模型,绘制车辆质心侧偏角 质心侧偏角速度相平面图,并利用双线法划分相平面图稳定区域,结合车辆自身质心侧偏角相轨迹,计算得到车辆极限稳定车速.以极限车速作为控制开关,设计基于质心侧偏角和横摆角速度的模糊控制器,提出了基于补偿横摆力矩的前后轮制动力矩比例分配控制策略,并在多种工况下进行了仿真与模拟驾驶实验.结果表明:利用极限车速作为控制开关设计的控制策略可有效提高车辆稳定性.%Firstly,an eight DOF vehicle lateral dynamics model is established with MATLAB/Simulink by using Magic tire model,and the mass center sideslip angle-sideslip angular velocity phase plane plot of vehicle is drawn. Then,double-line method is adopted to determine the stable region in phase plane plots,and combined with the side-slip angle phase trajectory of vehicle mass center,the extreme stable speed of vehicle is calculated.Finally, with the extreme speed as control switch,a fuzzy controller based on mass center sideslip angle and yaw rate is de-signed,and a control strategy for the proportional distribution of front and rear wheel braking torques is proposed, with both simulation and experiment on driving simulator conducted under different conditions The results show that the control strategy designed with the extreme speed as control switch can effectively enhance vehicle stability.
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