融合线控转向功能的汽车鲁棒滑模转向及横摆稳定性控制研究

项目名称： 融合线控转向功能的汽车鲁棒滑模转向及横摆稳定性控制研究

项目编号： No.61503113

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 王海

作者单位： 合肥工业大学

项目金额： 21万元

中文摘要： 线控转向系统是目前汽车智能转向研究的热点和前沿，是实现汽车高精度转向及横摆稳定性控制的关键技术。然而，由于车辆复杂的非线性动力学关系，在设计汽车转向及横摆稳定性控制过程中，研究人员面临着许多理论和技术上的挑战。本项目将致力于在路面条件和汽车动力学参数未知的前提下，研究基于鲁棒滑模控制的汽车转向及横摆稳定性控制策略。拟设计快速非奇异终端滑模及可变增益超螺旋滑模控制算法，克服现存转向控制算法的不足，改善闭环系统在参数摄动和路面干扰条件下的转向性能。拟设计用于整车横摆稳定性控制的自适应滑模和滑模学习控制算法，确保闭环横摆角速度误差动力学在横向动力学参数未知条件下的稳定性。控制理论和方法将在线控转向实验平台及实验样车上得到验证。本研究为线控转向汽车的转向控制和横摆稳定性控制问题提供新思路和通用策略，对滑模控制理论在汽车线控转向及稳定性控制系统中的应用具有重要借鉴意义。

中文关键词： 鲁棒性；干扰抑制；跟踪控制；输出反馈；验证平台

英文摘要： Steer-by-Wire (SbW) system which is currently a hot and leading-edge topic in intelligent automotive steering research is an essential technology for realizing the vehicle high precision steering and yaw stability control. However, due to the complex nonlinear dynamical relationship of vehicles, researchers now are facing many challenges in theory and technology. This research is devoted to studying robust sliding mode-based steering and yaw stability control strategies based on the premise of unknown road conditions and vehicle dynamic parameters. Fast nonsingular terminal sliding mode and variable gain super-twisting sliding mode control algorithms will be designed, in order to overcome the shortcomings of existing steering control methods and improve the steering performance of the closed-loop system under the conditions of parameter uncertainties and road disturbances. Adaptive sliding mode control and sliding mode learning control algorithms will be proposed for the SbW equipped vehicle yaw stability control, with the aim of ensuring the closed-loop stability of yaw error dynamics with unknown vehicle lateral dynamic parameters. The developed control theories and methods will be validated on the SbW experimental platform and experimental car. This research will provide innovative idea and general strategy for the steering control and yaw stability control of SbW equipped vehicle, and also have an important reference for the application of sliding mode control theory to the vehicle SbW and yaw stability control systems.

英文关键词： Robustness Property;Disturbance Rejection;Tracking Control;Output Feedback;Experimental Platform