An analytical method for vehicle stability control system is proposed based on distributed control structure. By distributing complex control algorithm, the control system is divided into three layers, which are control analysis, control allocation and control actuation. The desired forces and yaw moment are calculated based on sliding mode control method in control analysis. Then these are allocated to proper four wheels by using nonlinear optimal theory, in which the control allocation is realized and optimized. Simulations are implemented in the virtual vehicle dynamics environment CarMaker, and the results indicate that the designed control system enhances the vehicle stability in extreme condition and reduces the driver’s burden.
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王军,李飞强,刘昭度,董益亮,张晓龙.基于分布式结构的车辆稳定性控制系[J].农业机械学报,2009,40(6):33-36. Stability Control System Based on Distributed Control Structure[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(6):33-36.