Yaw Rate Calculation and Vehicle Stability Control Considering Tire Nonlinearity

doi:10.3969/j.issn.1004-132X.2023.21.001

Abstract

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

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

CLC Number:

U461.6

MIN Delei, TONG Ruting, WEI Yintao. Yaw Rate Calculation and Vehicle Stability Control Considering Tire Nonlinearity[J]. China Mechanical Engineering, 2023, 34(21): 2521-2530.

闵德垒, 童汝亭, 危银涛. 考虑轮胎非线性的横摆角速度计算与车辆稳定性控制[J]. 中国机械工程, 2023, 34(21): 2521-2530.

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