汽车失稳临界区域非线性瞬态动力学定量描述理论和模型预测控制方法研究

项目名称： 汽车失稳临界区域非线性瞬态动力学定量描述理论和模型预测控制方法研究

项目编号： No.51275557

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 李亮

作者单位： 清华大学

项目金额： 84万元

中文摘要： 在青年基金资助下，申请人在汽车失稳临界区域动力学稳定性理论和控制方法研究上获得的学术成绩有：（1）基于传感融合方法实现了失稳临界区域动力学高精度模拟与测量；（2）建立了大联合滑移下轮胎模型参数、路面动态附着，车身侧偏等状态的实时观测方法；（3）探索了强驱动/制动/转向工况发动机扭矩与制动的解耦控制方法；（4）实现了上述控制方法向稳定性控制器中的集成。发表SCI论文11篇，EI论文22篇，申请发明专利7项。研究中发现，基于状态传感加反馈的控制逻辑受系统响应与执行机构迟滞影响，难以保障失稳临界过程回复稳定的控制时间和空间。为此需系统地研究汽车失稳临界区域非线性瞬态动力学定量描述理论和预测控制方法；解决整车与轮胎动力学耦合机制与解耦控制难题，实现基于模型的整车稳定性与车轮稳定性的闭环预测控制。项目成果将为汽车临界失稳过程分析与控制提供有效工具，拓展动力学稳定性控制范围，防范侧滑/侧翻等致命事故。

中文关键词： 车辆稳定性；非线性动力学；失稳临界区域；定量描述；预测控制

英文摘要： The applicant has been engaged in vehicle dynamics stability mechanism and control methods with the support of the youth project of NSFC, the academic achievements are listed as follows: (1) Studying the vehicle nonlinear modeling mechanism and sensor fusion method, and established the accuracy simulation and test of the vehicle dynamics in instability area; (2) Solved the observation questions of the key nonlinear dynamics states, such as dynamics friction between the tire-road, vehicle side slip angle, the stability characteristics of speed; (3) Achieve the decouple control method of the driving torque and active brake pressure during the course of the strong driving，braking and steering maneuvering conditions; (4) Established an integrated controller between the decouple control method and the developed vehicle dynamics stability controller. In the studying, the high level papers are published, including the 11 papers indexed by SCI and 22 papers indexed by EI. Based on the latest control logic with the dynamics states measuring and the feedback controlling, the systematical delay, which is brought forward by the system response and actuator delay will decay the time and space for the vehicle to recovering stability for instable area. Therefore, the nonlinear transient dynamics and control methods of the vehi

英文关键词： Vehicle stability；nonlinear dynamics；instability critical area；quantification description；predictive control