路面附着状态在线识别及微型客车防侧翻控制算法研究

项目名称： 路面附着状态在线识别及微型客车防侧翻控制算法研究

项目编号： No.51205055

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 李胜琴

作者单位： 东北林业大学

项目金额： 25万元

中文摘要： 本项目基于模型参考自适应控制系统，针对目前城郊及农村地区校车应用较多的微型客车，进行车辆转弯过程中的防侧翻稳定性研究。 首先基于LuGre集中动态摩擦模型的工作原理，建立LuGre动态轮胎模型及路面状态观测器，实时捕捉车辆轮胎力与路面附着系数之间的瞬态特性，以此进行路面附着状态实时估计算法的研究，以实现车辆转向过程中车辆运动状态的实时监测，为车辆主动安全控制技术提供技术支持。 然后建立转弯过程中微型客车理想侧翻模型，设置车轮离地高度、车轮滑移率等侧翻状态指标。利用现有车辆传感器信号对影响车辆侧翻特性的车辆质心位置进行估算，对车辆的转弯类类别进行判别，研究主动防侧翻控制的触发与终止条件，进而基于李雅普诺夫函数稳定性理论，提出微型客车防侧翻稳定性控制算法，对车辆各车轮施加不同的制动压力来实现对车辆的主动防侧翻控制。 最后进行车辆虚拟仿真试验及道路试验，对控制算法进行验证。

中文关键词： 侧翻稳定性；微型客车；控制策略；联合仿真；

英文摘要： Minibus rollover stability and related anti-rollover control algorithm are studied in this research, based on the model reference adaptive control, using Lyapunov stability theory. Based on the LuGre tire dynamic friction model, a new introduced method for tire road real-time identification is reformed when the minibus is steering, by analyzing on the instantaneous characteristic of the tire force and road friction, then the moving state of bus during steering can be estimated online. An ideal anti-rollover model of minibus is established during steering, and the wheel off-ground and the tire slip rate are proposed as the anti-rollover state index. Using of the vehicle sensor signals, the vehicle mass location is estimated, the turning type is distinguished and the trigger and termination conditions corresponding to the active anti-roll control is studied. Then a model adaptive control algorithm of anti-rollover is developed based on Lyapunov stability theory. The aforementioned algorithm can be used to calculate the braking force and apply the braking force on the corresponding wheels using the executive components. Under the Matlab/Simulink environment, an offline simulation platform for anti-rollover control is built, the minibus road tests are proposed too, to verify the effectiveness of the anti-rollover

英文关键词： Rollover Stability；Mini Bus；Control Strategy；Co-simulation；