Vehicle Lateral Stability Control Based on Sliding Mode Control
In view of the vehicle cornering or path changing under ultimate handling maneuver,a 4-DOF nonlinear vehicle dynamics model which takes the longitudinal velocity,lateral velocity,yaw rate and body roll angle as the state variables is presented.Based on the dynamic analysis,the method which using additional yaw moment produced by different longitudinal braking force among each wheels to improving vehicle handling stability in emergency situations is discussed.Considering the slip angle of the centroid as the one of the vehicle state variables is difficult to measuring,the slip angle estimation method based on vehicle dynamic model and kinematics is designed.And then, based on the theory of sliding model control,the combining sliding mode control system is founded,which taking the vehicle yaw rate and body centroid slip angle errors between the estimated and the real as the input variables,and taking the braking torque and the steering angle as control aims.The simulation results indicate that the control method can effectively improve the vehicle lateral handling stability.
Vehicle dynamics stability Sideslip angle estimation Sliding mode control Simulation
Shuen Zhao Yinong Li Ling Zheng Shaobo Lu
The State Key Laboratory of Mechanical Transmission University of Chongqing Chongqing, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）