文档介绍：学兔兔
设汁宄Ⅲ B1【.D JEE~PL P c Y 0i 午第 1 期
基于 LQR的汽车横摆力矩控制研究
刘树伟,李刚,郑利民
(辽宁工业大学汽车与交通工程学院,锦卅 121001)
摘要:针对汽车极限工况稳定性控制问题,论文基于最优控制理论 LQR进行了汽车横摆力矩控
制研究。建立了整车七自由度动力学模型, 设计了 LQR 附加横摆力矩控制算法。为了提高制动
稳定性,相对于传统单轮制动研究了单侧两轮附加横摆力矩分配方法。最后选择增幅正弦转向低
附着路面行驶工况对控制算法进行了验证。仿真结果表明所研究的控制算法能够有效提高汽车极
限工况行驶稳定性。
关键词:极限行驶工况;横摆力矩控制;LQR;仿真
中图分类号:U461 6 文献标识码:A 文章编号:1671—7988(2013)12-56—05
Study on Vehicle YawStudyVehicleon Moment Control Based LQRon
LiuShuwei,Li Gallg,ZhellgLmlin
(College ofAutomobile and Traffic Engineering,Liaonii/g Uitiversity ofTectmology, ofTectmology, Engineering,Liaonii/g Uitiversity ofAutomobileTraffic and(College
Liaoiting Jthzhon 121001)Jthzhon Liaoiting
Abstract:Forvehicle controlstability problem inlimiting dii~ng conditions,Vehicle Yaw Moment Control
BasedonLQRwas paperThe studiedinthis7DOF dynamicmodelwas vehicle establishedTheyawmomellt
control algorithm basedonLQRwas algorithm control andtoimprovedesigned additionalyawmomelltFor braking distribution
stability,twowheels brakein onCsidem ethodwstudied paretothetraditional singlewheel brake The
low-adhesionroad sinusoidal driving conditionswas selected theverify tocontrol algorithmThe simul~ion
results show results thealgorithm control that was improveto diiving limit effective in vehicle conditionsstability
Keywords:Limiting conditions;Yawdriving control;LQR;SinlUlation nlonlent