Design And Optimization Of Vehicle Anti-roll Controller Based On Active Anti-roll Bar

In the process of driving,when the car meets the situation of rapid turning or the road surface is not smooth enough,the car body is prone to roll because of the influence of centrifugal force and load transfer.Excessive body roll angle will lead to rollover accident,which seriously threatens the safety of life and property of drivers and passengers.In this context,the technology based on active anti-roll bar to enhance vehicle roll stability arises at the right moment.Compared with active suspension,differential braking and other anti-roll technologies,this technology has the advantages of low development cost,simple and effective,and anti-roll and has attracted the attention of many scholars at home and abroad.This paper focuses on the current hot issues of active lateral stabilizer control technology and conducts the following research:Firstly,the finite element analysis model of the lateral stabilizer bar is established,and the modal and torsional stiffness of the stabilizer bar are simulated.The lateral stiffness is calculated from the theoretical formula by combining with the size of the stabilizer bar structure.Finally,the torsional stiffness of the selected stabilizer bar is calculated from the measured experimental data.By comparing the results of finite element analysis and theoretical calculation,it is proved that within the allowable error range,the selected type of stabilizer bar can provide sufficient lateral stiffness for the suspension system,which lays a foundation for further research on dynamic modeling and controller.Secondly,three degrees of freedom vehicle dynamics model is established,and on the basis of the model,the fuzzy PI-PD controller which has a good ability of restraining noise such as linear system is designed,improving the traditional differential overshoot phenomenon of the fuzzy PID controller,at the same time,the effects of the PI-PD controller on vehicle roll angle and roll angle velocity are compared with or without fuzzy rules;In order to further improve the stabilizer bar system to resist the vehicle roll condition outside the robustness of uncertain interference factors,an Active Disturbance Rejection Controller(ADRC)consisting of a tracking differentiator,an extended state observer and a nonlinear feedback control law is introduced.Since ADRC with many parameters,it is difficult to improve the control effect.In this paper the improved chicken swarm algorithm is adopted to optimize the controller parameters,and the effectiveness of the improved algorithm is verified by Rosenbrock,Schaffer and other test functions.Finally,the test conditions with convenient operation of CarSim and Simulink model of active anti-roll bar controller designed in advance are used for joint simulation,and representative double-shift line and fishhook conditions are selected for simulation test of vehicle roll stability.The experimental results show that compared with the fuzzy PI-PD controller,the ADRC optimized by the chicken swarm algorithm is more effective in reducing vehicle roll Angle,and has certain theoretical guiding significance for the controller design based on active anti-roll bar in the future.