车辆转向过程中,存在稳定性与安全性低下问题,因此,提出基于自抗扰液压控制技术的汽车主动后轮转向方法。通过构建汽车横向动力学模型,并基于变动液压传动比精确计算后轮转向的期望横摆角速度;利用该期望横摆角速度作为跟踪目标,设计包含扩展状态观测器、跟踪微分器和非线性误差液压控制律的自抗扰液压控制器;通过获取附加后轮转角并调整,确保汽车能够紧密跟随理想模型,实现后轮转向的精准控制。仿真结果表明:通过跟踪车辆质心侧偏角与横摆角速度,并应用液压传动比,车辆稳定性得到显著提升,有效预防侧翻风险,确保行车安全。同时,该控制方法使汽车展现出优良的横摆角速度响应特性,且质心侧偏角预估值非常准确,对于提升车辆转向性能及行车安全具有重要意义。
Abstract
During the vehicle turning process, there are issues of low stability and safety. Therefore, a method for active rear wheel steering of automobiles based on self disturbance rejection hydraulic control technology is proposed. By constructing a vehicle lateral dynamics model and designing a variable hydraulic transmission ratio algorithm based on it, the expected yaw rate of rear wheel steering can be accurately calculated; Using the expected yaw rate as the tracking target, design an active disturbance rejection hydraulic controller that includes an extended state observer, tracking differentiator, and nonlinear error hydraulic control law; By obtaining additional rear wheel steering angles and adjusting them, ensure that the car can closely follow the ideal model and achieve precise control of rear wheel steering. The simulation results show that by tracking the vehicle's center of mass sideslip angle and yaw rate, and applying hydraulic transmission ratio, the vehicle's stability is significantly improved, effectively preventing the risk of rollover and ensuring driving safety. At the same time, this control method enables the vehicle to exhibit excellent yaw rate response characteristics, and the estimated value of the center of mass lateral deviation angle is highly accurate, which is of great significance for improving the vehicle's steering performance and driving safety.
关键词
自抗扰技术 /
后轮转向 /
转向控制 /
横摆角速度 /
自抗扰液压控制器 /
液压冲击惯性量
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Key words
self disturbance rejection technology /
rear wheel steering /
steering control /
yaw rate /
self disturbance rejection hydraulic controller /
hydraulic impact inertia
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