液压马达式汽车主动稳定杆系统建模与控制

摘要/Abstract

摘要： 以液压马达式主动稳定杆系统为研究对象，推导得到了液压马达式主动稳定杆的非线性动力学模型。利用线性化反馈的滑模控制方法设计了其控制器，并利用Lyapunov理论对控制系统的稳定性进行了证明。通过CarSim和MATLAB/Simulink对主动稳定杆系统进行了联合仿真，得出安装液压马达式主动稳定杆系统的车辆在双移线工况下运行的响应曲线。为了验证设计的控制方法，进行了实车试验。结果表明，与被动稳定杆相比，主动稳定杆系统具有较好的抗侧倾特性以及乘坐舒适性。

关键词: 主动稳定杆, 非线性动力学, 滑模控制, 防侧倾

Abstract: Taking active stabilizer bar system with hydraulic motor as the object, a nonlinear dynamics model of active stabilizer bar system with hydraulic motor was established. The controller was designed with the control method for the feedback linearization sliding mode. And the stability of the control system was analyzed by Lyapunov stability theory. On the basis of the CarSim-MATLAB/Simulink co-simulation of the active stabilizer bar system, the response curves on the double-lane-change conditions were achieved. A real vehicle test was also worked out for the verification of the desired control method. The results show that the active stabilizer bar system has the preferable characteristics of anti-roll and ride comfort compared with the passive stabilizer bar.

Key words: active stabilizer bar, nonlinear dynamics, sliding mode control, anti-roll

中图分类号:

U461

赵韩, 赵福民, 黄康, 邵可, 孙浩. 液压马达式汽车主动稳定杆系统建模与控制[J]. 中国机械工程.

Zhao Han, Zhao Fumin, Huang Kang, Shao Ke, Sun Hao. Modeling and Control of Vehicle Active Stabilizer Bar System with Hydraulic Motor[J]. China Mechanical Engineering.

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