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《Journal of Traffic and Transportation Engineering》 2015-04
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Vehicle stability control based on chassis multiple subsystem coordinated control

ZHAO Shu-en;LI Yu-ling;YU Qiang;School of Mechantronics and Automobile Engineering,Chongqing Jiaotong University;School of Automobile,Chang'an University;  
Based on the differences of chassis key subsystems influences on vehicle stability and effective acting regions,the nonlinear characteristic of tires and the dynamics coupling relation among vehicle chassis subsystems were comprehensively considered,and the 14-DOF full vehicle model was built.Nonlinear H∞ control and fuzzy control were separately utilized for chassis steering,braking and suspension to study the control performances.Multi-level hierarchical control theory was adopted to establish vehicle stability coordinated control system including organization,coordination and execution level.Sliding mode control theory and inverse tire model were used to translate the generalized target control forces and moments from organization level into tire sideslip angle and slip ratio.Based on the principle of function distribution,the control function of each subsystem was coordinated,the function decoupling of vehicle chassis complex system was realized,and full vehicle stability coordinated control system was simulated.Simulation result shows that the control effect on vehicle stability by combined control of ABS(anti-lock braking system)and SAS(semi-active suspension system)is relatively poor,butjoining AFS(active front steering)can significantly improve vehicle handling stability.Compared to vehicle chassis subsystem combined control,multi-level hierarchical coordinated control can improve vehicle stability preferably,reduce the braking distance and keep the slip ratio near the target value 0.2basically.
【Fund】: 国家自然科学基金项目(51278514);; 中国博士后科学基金项目(2014M562259);; 重庆市基础与前沿研究计划项目(cstc2014jcyjA60007)
【CateGory Index】: U463
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