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首页> 外文期刊>International Journal of Automotive Technology >MODELING AND CONTROL OF AN ANTI-LOCK BRAKE AND STEERING SYSTEM FOR COOPERATIVE CONTROL ON SPLIT-MU SURFACES
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MODELING AND CONTROL OF AN ANTI-LOCK BRAKE AND STEERING SYSTEM FOR COOPERATIVE CONTROL ON SPLIT-MU SURFACES

机译：分段MU表面协同控制的防抱死转向系统的建模与控制

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摘要

The brake and steering systems in vehicles are the most effective actuators that directly affect the vehicle dynamics. In general, the brake system affects the longitudinal dynamics and the steering system affects the lateral dynamics; however, their effects are coupled when the vehicle is braking on a non-homogenous surface, such as a split-mu road. The yaw moment compensation of the steering control on a split-mu road is one of the basic functions of integrated or coordinated chassis control systems and has been demonstrated by several chassis suppliers. However, the disturbance yaw moment is generally compensated for using the yaw rate feedback or using wheel brake pressure measurement. Access to the wheel brake pressure through physical sensors is not cost effective; therefore, we modeled the hydraulic brake system to avoid using physical sensors and to estimate the brake pressure. The steering angle controller was designed to mitigate the non-symmetric braking force effect and to stabilize the yaw rate dynamics of the vehicle. An H-infinity design synthesis was used to take the system model and the estimation errors into account, and the designed controller was evaluated using vehicle tests.
机译：车辆中的制动和转向系统是最直接影响车辆动力学的最有效的执行器。通常，制动系统会影响纵向动力，而转向系统会影响横向动力。但是，当车辆在非均质的路面（例如，分亩公路）上制动时，它们的作用是耦合的。亩亩道路上转向控制的横摆力矩补偿是集成或协调的底盘控制系统的基本功能之一，并已被多家底盘供应商证明。然而，通常使用偏航率反馈或使用车轮制动压力测量来补偿干扰偏航力矩。通过物理传感器访问车轮制动压力并不经济。因此，我们对液压制动系统建模，以避免使用物理传感器并估算制动压力。转向角控制器的设计旨在减轻非对称制动力的影响，并稳定车辆的横摆率动态。使用H-infinity设计综合来考虑系统模型和估计误差，并使用车辆测试对设计的控制器进行评估。

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