汽车失稳临界区域非线性瞬态动力学定量描述理论和模型预测控制方法研究

The applicant has been engaged in vehicle dynamics stability mechanism and control methods with the support of the youth project of NSFC, the academic achievements are listed as follows: (1) Studying the vehicle nonlinear modeling mechanism and sensor fusion method, and established the accuracy simulation and test of the vehicle dynamics in instability area; (2) Solved the observation questions of the key nonlinear dynamics states, such as dynamics friction between the tire-road, vehicle side slip angle, the stability characteristics of speed; (3) Achieve the decouple control method of the driving torque and active brake pressure during the course of the strong driving，braking and steering maneuvering conditions; (4) Established an integrated controller between the decouple control method and the developed vehicle dynamics stability controller. In the studying, the high level papers are published, including the 11 papers indexed by SCI and 22 papers indexed by EI. Based on the latest control logic with the dynamics states measuring and the feedback controlling, the systematical delay, which is brought forward by the system response and actuator delay will decay the time and space for the vehicle to recovering stability for instable area. Therefore, the nonlinear transient dynamics and control methods of the vehicle in instability critical region will be studied systemically. Furthermore, investigation on the coupling mechanism between the tire forces and vehicle dynamics and the decoupling method will be carried out. A closed-loop predictive control for nonlinear transient dynamics of the vehicle-tire system will be expected to have a breakthrough. An effective tools for the analysis and control of the dynamics of the vehicle in the critical instability area would be obtained, the vehicle dynamics stability control will be extend from the stable and under-stable region to the unstable critical region, and the slip and rollover of the vehicle would be predicted and controlled. ?

在青年基金资助下，申请人在汽车失稳临界区域动力学稳定性理论和控制方法研究上获得的学术成绩有：（1）基于传感融合方法实现了失稳临界区域动力学高精度模拟与测量；（2）建立了大联合滑移下轮胎模型参数、路面动态附着，车身侧偏等状态的实时观测方法；（3）探索了强驱动/制动/转向工况发动机扭矩与制动的解耦控制方法；（4）实现了上述控制方法向稳定性控制器中的集成。发表SCI论文11篇，EI论文22篇，申请发明专利7项。研究中发现，基于状态传感加反馈的控制逻辑受系统响应与执行机构迟滞影响，难以保障失稳临界过程回复稳定的控制时间和空间。为此需系统地研究汽车失稳临界区域非线性瞬态动力学定量描述理论和预测控制方法；解决整车与轮胎动力学耦合机制与解耦控制难题，实现基于模型的整车稳定性与车轮稳定性的闭环预测控制。项目成果将为汽车临界失稳过程分析与控制提供有效工具，拓展动力学稳定性控制范围，防范侧滑/侧翻等致命事故。

汽车失稳临界区域瞬态非线性机理是研究高速车辆在随机操纵下动力学稳定性的基础，也是开展汽车主动安全控制干预方法研究的前提。汽车在一定的操纵条件下，进入失稳临界区域后，其体现出的迟滞、非线性为系统精确描述带来了极大的难度，且系统响应难以准确预测；基于状态测量反馈的控制机制因涉及到传感器水平、成本等因素制约，难以获取全部关键状态信息；在汽车稳定性主动控制方面，底层执行控制器受制于自身响应频率以及延迟等，失稳临界的控制效果提升亦是领域内的国际性难题。.在本项国家自然科学基金面上项目资助下，项目团队开展了汽车失稳临界区域非线性瞬态动力学定量描述理论和模型预测控制方法的攻关工作。从汽车非线性动力学行为量测入手，搭建了包括转向机器人、四轮六分力仪、轮胎侧偏角、差分GPS、整车CAN网络信息在内的实车动力学量测平台，研制出整车侧偏、侧倾、轮胎力、转向特征观测器，构建了整车4轮7自由度、15自由度缩减自由度模型，对照试验，实现了非线性动力学行为的数学建模、传感观测、相关控制执行器研制到汽车稳定性预测控制等四个方面开展工作，覆盖了项目任务书全部研究任务。.在项目支持下，研制出可实现汽车横摆、侧滑、侧偏三维度动力学稳定性预测控制的方法及其控制器软硬件，并集成到前期基金汽车动力学稳定性控制系统ESC相关成果中，目前正与长安、江淮、吉利等自主品牌汽车企业开展产业化转化工作。.在项目支持下，相继在IEEE Transaction、ASME Transaction、VSD、MSSP等领域高水平期刊上发表SCI论文18篇，EI论文22篇（含SCI/EI双检论文18篇），相关研究成果获授权国家发明专利7项。论文在国际同行中得到了较广泛引用评价，取得了较好学术影响。培养博士后、博硕士研究生一共8人。合作的博士后2人均获得国家博士后基金和自然基金青年基金项目。硕士研究生中2人获得清华大学优秀硕士论文。