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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering
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Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering

机译：通过主动前轮转向控制线控转向车辆的偏航稳定性

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摘要

A novel yaw stability control algorithm with active front wheel steering control of a vehicle equipped with a steer-by-wire system is presented in this paper. The proposed algorithm achieves the decoupling of the lateral and yaw motion of a vehicle and the vehicle's yaw damping simultaneously by the feedback of both yaw rate and front steering angle. A trade-off is then made between the robust decoupling and yaw rate damping through the adjustment of the feedback gains with respect to vehicle speed. With this trade-off, the gain scheduled steering controller provides the desired yaw rate damping while keeping the yaw-lateral motion decoupled. The robustness of the yaw-lateral decoupling is achievable when arbitrary yaw damping is not required. The proposed control system is implemented on a steer-by-wire vehicle, and the experimental results are presented illustrating the benefits.
机译：本文提出了一种新颖的偏航稳定控制算法，该算法具有线控转向系统，具有主动前轮转向控制功能。所提出的算法通过横摆率和前转向角的反馈，同时实现了车辆的横向和横摆运动与车辆的横摆阻尼的解耦。然后，通过调整相对于车速的反馈增益，在鲁棒的去耦和偏航率阻尼之间进行权衡。通过这种权衡，增益预定的转向控制器可提供所需的偏航角速度阻尼，同时保持不偏航-横向运动的耦合。当不需要任意的偏航阻尼时，可以实现偏航-横向解耦的鲁棒性。所提出的控制系统在线控转向车辆上实现，并给出了实验结果，说明了其好处。

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