• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mathematical Problems in Engineering >Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces
【24h】

Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

机译：具有自适应上限的车辆滑模控制：静态与动态分配给饱和轮胎力

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.
机译：非线性车辆控制分配是通过在单个轮胎力之间分配车辆控制任务来实现的，而轮胎力受非线性饱和条件的约束。考虑了具有自适应上限的高级滑模控制，以评估车身偏航力矩和车辆运动的侧向力。所提出的控制器仅需要在线调整控制增益，而无需获取系统不确定性上限的知识。已经制定了静态和动态控制分配方法，以在系统输入之间分配高级控制目标。对于静态控制分配，采用内点法解决公式化的非线性优化问题。基于动态控制分配方法，导出动态更新定律以将车辆控制分配给轮胎力。分配的轮胎力被输入到低级控制模块，在该模块中，每个轮胎的施加扭矩和主动转向角通过滑差比控制器和轮胎反模型确定。计算机仿真被用来证明所提出的控制分配方法对提高稳定性和操纵性能的显著作用。讨论了每种方法的优点和局限性，并得出了结论。

著录项

  • 来源
    《Mathematical Problems in Engineering》 |2012年第5期|p.40.1-40.31|共31页
  • 作者

    Ali Tavasoli; Mahyar Naraghi;

  • 作者单位

    Department of Mechanical Engineering, Amirkabir University of Technology, 424 Hafez Avenue, Tehran 15914, Iran;

    Department of Mechanical Engineering, Amirkabir University of Technology, 424 Hafez Avenue, Tehran 15914, Iran;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号