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Intervention criterion and control strategy of active front steering system for emergency rescue vehicle

机译：紧急救援车辆主动前转向系统的干预标准与控制策略

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摘要

Active front steering (AFS), as an effective active technology, can enhance the handling stability of the emergency rescue vehicle. In order to deal with the shortcomings of full AFS intervention for the vehicle, the intervention criterion and control strategy of AFS system for the emergency rescue vehicle are studied deeply. Based on the phase plane theory, the double-line and yaw rate methods are combined to construct the closed polygonal stable area of the vehicle. Depending on whether the vehicle status is outside the closed polygonal stable area, the AFS intervention criterion is proposed. Taking the yaw rate and the sideslip angle of the vehicle as the control targets, a sliding mode control (SMC) controller for the AFS system of the emergency rescue vehicle is designed based on the variable structure theory, and the extended Kalman filter (EKF) state observer is introduced to estimate the vehicle sideslip angle. Based on Matlab/Simulink software, the intervention criterion and control strategy of AFS system are simulated and analyzed. In addition, the self-developed fire rescue prototype vehicle is selected as the experimental vehicle, and the proposed AFS intervention criterion and control strategy is tested. The simulation and experimental results showed that the proposed AFS control strategy with the intervention criterion is reasonable and effective, and it improves the handling stability of the emergency rescue vehicle.
机译：主动前转向（AFS）作为一种有效的有效技术，可以增强紧急救援车辆的处理稳定性。为了处理车辆的完整AFS干预的缺点，深入研究了应急救援车辆AFS系统的干预标准和控制策略。基于相平面理论，组合双线和横摆率方法以构造车辆的闭合多边形稳定区域。根据车辆状态是否在闭合多边形稳定区域之外，提出了AFS介入标准。采用车辆的横摆率和作为控制目标的偏斜角，基于可变结构理论设计紧急救援车辆的AFS系统的滑模控制（SMC）控制器，并扩展卡尔曼滤波器（EKF）引入国家观察者以估计车辆侧坡角度。基于MATLAB / SIMULINK软件，模拟和分析了AFS系统的干预标准和控制策略。此外，选择自发出的消防救援原型车辆作为实验载体，测试了所提出的AFS介入标准和控制策略。模拟和实验结果表明，具有干预标准的建议的AFS控制策略是合理且有效的，它提高了紧急救援车辆的处理稳定性。

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