Research On Anti-Roll Controller Of Active Stabilizer Bar And Application Of EZMP

When the vehicle encounters bumpy roads and makes sharp turns in the process of driving,due to the influence of centrifugal force and load transmission,rollover accidents are very prone to occur.The main reason for this accident is the poor rollover stability of the car,but for now,the research process to improve this problem is relatively slow,and with the gradual increase of rollover accidents,the problem is gradually caused.It has attracted the attention of the society.Among them,many domestic and foreign experts,scholars and universities have done a lot of discussions and experiments on researching and solving this problem.The stabilizer bar has attracted the attention of domestic and foreign researchers due to its simple and effective structure and low development cost.This article will also start from the perspective of the stabilizer bar,and improve the driving stability of the vehicle and reduce the occurrence of rollover accidents through the research and design of the stabilizer bar controller.In order to use the stabilizer bar to improve the stability of the vehicle,this article mainly did the following research:Firstly,in order to do better research on the roll stability of vehicles,an extended-zeromoment-point concept originally used for the stability of biped robots was proposed and used as one of the vehicle roll and pitch evaluation systems.In order to derive its general formula and applicable conditions in the evaluation system,the concept is summarized and deduced.Finally,the general formula and applicable conditions were successfully derived,and it was introduced into the vehicle stability evaluation system,and then it was compared with the existing two representative stability evaluations.The comparative analysis of the index shows that the index can be transformed into each other,which proves the reliability of the index,and also proves that the roll evaluation index has good accuracy and versatility from the side.Secondly,a dynamic model of the vehicle is established,and the corresponding tire model and road surface excitation model are also constructed.The modeling work of the above model is completed by using MATLAB/Simulink software.To ensuire the accuracy of the model,the reliability of the model will be verified through a real vehicle test.This article will select 19 commercial vehicles as the research object of this test,and follow the national serpentine working condition real vehicle test standard GB/T 6323-2014 to complete this test.By processing the data collected in the test and comparing and analyzing the data obtained from the simulation of the built model,it is found that they are basically consistent.Therefore,it can be judged that the model can reflect the true state of the vehicle,and the accuracy of the model can also be ensured.Then,on the basis of the nine-degree-of-freedom dynamics model of the vehicle,the active stabilizer bar often encounters various complex working conditions.A fuzzy PID controller with strong adaptability to complex working conditions is designed,and the influence of the controller on the vehicle’s roll angle and roll angular velocity is compared under the angle step input condition.In order to further improve the suppression of the internal disturbance of the system by the stabilizer bar,an active disturbance rejection controller is introduced.Due to the many parameters in the active disturbance rejection controller,it is difficult to improve the control effect with general optimization methods.This paper adopts an adaptive genetic algorithm.To optimize the controller parameters,and verify the effectiveness of the adaptive genetic algorithm through Girewank,Ackley and other test functions.Finally,the above established roll stability evaluation index model Simulink subsystem,fuzzy PID controller model Simulink subsystem and ADRC controller model Simulink subsystem were imported into the vehicle model subsystem of Simulink to obtain the TRCUKSIM and MATLAB co-simulation model.The simulation performed under three different working conditions that are prone to roll.The simulation parameters and the roll evaluation index values were compared and analyzed.The results proved that the fuzzy PID controller and the active disturbance rejection controller are effective for the anti-roll control of the stabilizer bar.Both have good results,but compared with the fuzzy PID controller,the auto-disturbance rejection controller with adaptive genetic algorithm has a more obvious antiroll effect on the vehicle.