中国机械工程 ›› 2023, Vol. 34 ›› Issue (21): 2521-2530.DOI: 10.3969/j.issn.1004-132X.2023.21.001

• 机械基础工程 • 上一篇    下一篇

考虑轮胎非线性的横摆角速度计算与车辆稳定性控制

闵德垒;童汝亭;危银涛   

  1. 清华大学汽车安全与节能国家重点实验室,北京,100084
  • 出版日期:2023-11-10 发布日期:2023-11-29
  • 通讯作者: 危银涛(通信作者),男,1971年生,教授、博士研究生导师。研究方向为电控悬架、智能轮胎、智能材料、胎噪路噪仿真与控制、橡胶的本构与疲劳。发表学术论文99篇。E-mail:weiyt@tsinghua.edu.cn。
  • 作者简介:闵德垒,男,1986年生,博士研究生。研究方向为车辆系统动力学与控制、智能轮胎。发表论文5篇。E-mail:mdl21@mails.tsinghua.edu.cn。
  • 基金资助:
    国家自然科学基金(51761135124)

Yaw Rate Calculation and Vehicle Stability Control Considering Tire Nonlinearity

MIN Delei;TONG Ruting;WEI Yintao   

  1. State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing,100084
  • Online:2023-11-10 Published:2023-11-29

摘要: 基于非线性轮胎模型提出横摆角速度的一种准确计算方法,并将其用于车辆稳定性控制。轮胎的非线性采用刷子模型进行表征,通过摄动分析得到等效稳定性因数,进而得到稳态横摆角速度的精确解析解。对解析解存在性的分析表明轮胎非线性会对车辆稳定性产生影响。实车试验和基于车辆模型的控制仿真表明,考虑轮胎非线性可有效提高作为目标参量的稳态横摆角速度的计算精度,提高车辆稳定性的控制效果。

关键词: 汽车工程, 横摆角速度计算, 车辆稳定性控制, 轮胎非线性, 刷子模型

Abstract: Based on the nonlinear tire model, an accurate yaw rate calculation method was proposed to calculate the accurate yaw rate and applied to vehicle stability control. Tire nonlinearity was characterized by the brush model. The equivalent stability factor was obtained by perturbation analysis, and the accurate analytical solution of the yaw rate was obtained. The analysis of the existence of analytical solutions indicates that tire nonlinearity may impact vehicle stability. Real vehicle tests and control simulations based on vehicle models show that considering tire nonlinearity may effectively improve the calculation accuracy of the steady-state yaw rate as the target parameter, and improve the effect of vehicle stability control. 

Key words:  , automotive engineering; yaw rate calculation; vehicle stability control; tire nonlinearity; brush model

中图分类号: