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| 基于自抗扰技术的汽车侧风稳定性研究 |
| Study of vehicle crosswind stability based on ADRC technology |
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| DOI： |
| 中文关键词: 自抗扰技术；侧向风；稳定性；主动前轮转向 |
| 英文关键词: active disturbance rejection technique; crosswind; stability; active front steering |
| 基金项目:国家自然科学基金资助项目（51205191） |
| 作者 | 单位 | | 白玉1，桑楠1,2 | 1.常州工学院 机电工程学院，江苏 常州 213002；2.南京航空航天大学 能源与动力学院，江苏 南京 210016 |
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| 中文摘要: |
| 随机侧向风影响汽车操纵稳定性，增加驾驶操作难度.针对侧向风干扰，在线性二自由度模型的基础上提出基于自抗扰技术的汽车主动前轮控制器，消除侧向风干扰对汽车行驶的影响.在Matlab软件中建立了人-车-路闭环仿真模型，用以控制CarSim四轮车辆模型进行双移线道路仿真试验.CarSim与Simulink联合仿真结果表明: 在侧向风干扰下，自抗扰控制器能很好控制车辆模型完成双移线道路仿真试验，且响应的各项性能指标均优于无风情况；同时，控制器对车速适应性好，对模型精度要求不高，鲁棒性强.主动前轮控制器能有效抗侧向风干扰，改善汽车的操纵稳定性和行驶安全性. |
| 英文摘要: |
| Random crosswind affects vehicle handling and stability, increasing the difficulty of driving operation. For crosswind disturbance, active front steering controller based on ADRC（Active Disturbance Rejection Control）technology was proposed base linear two degrees of freedom model, to eliminate crosswind disturbance on motor cars. Closed-loop simulation model of driver-vehicle-road was established in Matlab controls CarSim four vehicle model, and double lane change road simulation test. CarSim and Simulink co-simulation results show: under crosswind disturbance, the ADRC controller can well control the vehicle model to complete the double lane change road simulation test, and the performances of response are better than no wind situation; meanwhile，controller is well to speed adaptability, the model less precision and robustness. AFS (active front steering) controller is effective to resist crosswind disturbance, improve handling and stability and driving safety. |
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