可实现车辆稳定性控制的滑模变结构策略

The yaw velocity and the side angle of the center of mass play important roles as the main parameters in the stability of the vehicle. In this paper, a layered structure is proposed to control the stability performance of the vehicle by using the sliding mode variable structure strategy for the upper system. A two degree of freedom vehicle model is used to calculate the ideal value of the control variable. The vehicle stability control system is designed according to the yaw velocity and the deviation and deviation derivative of the sideslip angle. The optimal additional yaw moment is calculated by the control parameters. The stability of the closed loop system is judged by Lyapunov decision method. The experimental results show that the sliding mode variable structure controller designed in this paper can improve the stability performance of the vehicle obviously and improve the safety of the vehicle in the emergency.