Abstract

This article presents the development of a new combined controller based on an active steering system and an active braking system to increase maneuverability and the directional stability of the vehicle. First, to dominate the uncertainties of the dynamic model, sliding model control (SMC) method has been used. Then, to verify the performance of the proposed controller, a control system has been designed based on linear quadratic regulator (LQR) control method. Next, to investigate the performance of the controllers, a 14 degree-of-freedom (DOF) dynamic model has been utilized. The computer simulations confirmed the effectiveness of the robust controller in comparison with the LQR control system during critical maneuver.

摘要

本文介绍了基于主动转向系统和主动制动系统的新型组合控制器的开发，以提高车辆的机动性和方向稳定性。首先，为了控制动态模型的不确定性，使用了滑动模型控制（SMC）方法。然后，为了验证所提出的控制器的性能，设计了一个基于线性二次调节器（LQR）控制方法的控制系统。接下来，为了研究控制器的性能，使用了 14 自由度 (DOF) 动态模型。与 LQR 控制系统相比，计算机模拟在关键机动期间证实了鲁棒控制器的有效性。