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4WID-4WIS車(chē)輛橫擺運(yùn)動(dòng)AFS+ARS+DYC模糊控制
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國(guó)家高技術(shù)研究發(fā)展計(jì)劃（863計(jì)劃）資助項(xiàng)目（2007AA04Z206）、國(guó)家自然科學(xué)基金資助項(xiàng)目(61174054),、山東省優(yōu)秀中青年科學(xué)家科研獎(jiǎng)勵(lì)基金資助項(xiàng)目(BS2011ZZ012),、汽車(chē)安全與節(jié)能?chē)?guó)家重點(diǎn)實(shí)驗(yàn)室開(kāi)放基金資助項(xiàng)目（KF09061）,、交通運(yùn)輸部科技計(jì)劃資助項(xiàng)目（2008319817070、2009318000072）和山東交通學(xué)院基金資助項(xiàng)目


4WID-4WIS Vehicle Yaw Control Based on Fuzzy Logic Control of AFS+ARS+DYC
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    摘要:

    對(duì)四輪獨(dú)立驅(qū)動(dòng)-獨(dú)立轉(zhuǎn)向（4WID-4WIS）車(chē)輛橫擺穩(wěn)定性控制進(jìn)行研究,。對(duì)側(cè)偏角與橫擺角速度之間的耦合性進(jìn)行分析，提出了控制策略：當(dāng)質(zhì)心側(cè)偏角比較小時(shí)以理想橫擺角速度跟蹤控制為主，當(dāng)質(zhì)心側(cè)偏角比較大時(shí)以抑制質(zhì)心側(cè)偏角過(guò)大為主,。基于模糊控制技術(shù)提出集成“主動(dòng)前/后輪轉(zhuǎn)向+直接橫擺力矩控制”（FRD）的新型車(chē)輛橫擺穩(wěn)定性控制系統(tǒng),。仿真結(jié)果表明,，與直接橫擺力矩控制（DYC）的車(chē)輛相比，F(xiàn)RD可明顯降低車(chē)輛的制動(dòng)力矩和車(chē)輪縱向滑移率,，確保車(chē)輛在低附著路面上高速行駛時(shí)具有良好的橫擺穩(wěn)定性,。

    Abstract:

    The yaw stability control of 4WID-4WIS vehicle was studied. The coupling relationship between vehicle side slip angle and yaw rate was analyzed. A fuzzy yaw stability controller composed of active front steering (AFS), active rear steering (ARS) and direct yaw moment control (DYC) was designed based on the following strategy—when side slip angle was small, the main aim was to follow the anticipant yaw rate, and when side slip angle was big, the main aim was to reduce vehicle side slip angle. Simulations results indicated that compared with vehicle controlled by DYC, vehicle controlled by AFS+ARS+DYC (RFD) reduced the braking tore and longitudinal slipping rate obviously, which ensured the vehicle yaw stability with high speed on low friction road.

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楊福廣,阮久宏,李貽斌,榮學(xué)文,邱緒云,尹占芳.4WID-4WIS車(chē)輛橫擺運(yùn)動(dòng)AFS+ARS+DYC模糊控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(10):6-12. Yang Fuguang, Ruan Jiuhong, Li Yibin, Rong Xuewen, Qiu Xuyun, Yin Zhanfang.4WID-4WIS Vehicle Yaw Control Based on Fuzzy Logic Control of AFS+ARS+DYC[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(10):6-12.

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