Four-wheel steering and four-wheel driving intelligent chassis stability control method

Abstract

The invention discloses a four-wheel steering and four-wheel driving intelligent chassis stability control method, which can combine the advantages of four-wheel steering and four-wheel driving through the steps of self-adaptive terminal sliding mode control, speed following control, driving force distribution control and the like, reduce the requirement on system modeling precision, and improve the stability of a four-wheel steering and four-wheel driving system. Modeling errors caused by inaccurate measurement of tire cornering stiffness, chassis yaw moment of inertia and the like are solved, meanwhile, a nonlinear term is introduced into a sliding mode surface established in self-adaptive terminal sliding mode control, and compared with a common linear sliding mode surface, the sliding mode surface has the outstanding advantages that the system state can be converged to a balance original point within finite time, and the system stability is improved. Therefore, the system response is improved, and the stability of the four-wheel steering and four-wheel driving intelligent chassis is well maintained.

Description

technical field [0001] The invention relates to the field of automobile control, in particular to a four-wheel steering four-wheel drive intelligent chassis stability control method. Background technique [0002] At present, researchers at home and abroad have done a lot of research on the integrated control of four-wheel steering four-wheel drive, but there are still many deficiencies. Patent CN 107215329 B makes up for the impact of modeling by adaptively designing the control gain of the spiral sliding mode controller, and improves the control accuracy of the lateral stability of the vehicle, but this method fails to combine four-wheel steering and four-wheel drive Combining, can not give full play to the advantage of four-wheel steering four-wheel drive intelligent chassis. Patent CN 111497826 B adopts a layered control idea, the upper layer uses a model predictive controller, and the lower layer is a torque optimization distribution controller, which can better ensure ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a four-wheel steering and four-wheel drive intelligent chassis stability control method for the deficiencies of the prior art. The control method can combine the advantages of four-wheel steering and four-wheel drive to reduce the Requirements for modeling accuracy, solve the modeling error caused by inaccurate measurement of tire cornering stiffness, chassis yaw moment of inertia, etc., at the same time, the sliding surface established in the adaptive terminal sliding mode control introduces a nonlinear term , can make the system state converge to the equilibrium origin within a limited time, thereby improving the system response and better maintaining the stability of the four-wheel steering four-wheel drive intelligent chassis

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