关键词: 主动稳定杆, 液压马达, 自抗扰控制器, 粒子群优化算法, 侧倾稳定性

Abstract:

In order to improve the anti-roll ability of vehicle, this paper designed a hydraulic motor-driven active stabilizer control system, and proposed a hierarchical control strategy based on particle swarm optimization (PSO) algorithm. The upper active disturbance rejection controller (ADRC) calculates the anti-roll torque required by the whole vehicle, and the anti-roll torque required by the whole vehicle is distributed to the front and rear axles through a distributor. The lower three-loop proportional-integral-differential (PID) controller receives the anti-roll torque to be provided, calculates the control current and inputs it to the servo valve, so as to drive the motor output shaft to rotate and generates the active torque through the stabilizer bar to realize the active anti-roll control of the vehicle. In order to make the controller has better control effect, the PSO algorithm was used to optimize the upper and lower control as a whole, and the optimized ADRC and PID parameters were input into the vehicle model. In order to make the simulation close to the actual effect, the torsional stiffness of the lateral stabilizer bar measured by the experiment was also brought into the model. The serpentine and double lane shifting conditions were used for simulation on Class C road surface, and the simulation verification was carried out by comparing PSO-optimized ADRC system with passive system, PID control system and unoptimized ADRC system. The simulation data show that the roll angle directly affects the vehicle’s roll stability, the hierarchical control strategy optimized by PSO algorithm can significantly reduce the vehicle’s roll angle, and effectively suppress the instability caused by excessive body roll motion. The active control stabilizer can better provide the required anti-roll torque for the vehicle than the traditional passive stabilizer, and improve the anti-roll ability of the vehicle. The optimized ADRC controller has better active control effect than the passive system and the unoptimized ADRC controller. Under the same working condition, the roll angle is smaller, the anti-roll ability is stronger, the optimized three closed-loop PID response speed is faster, and the tracking performance is better.

Key words: active stabilizer bar, hydraulic motor, active disturbance rejection controller, particle swarm optimization algorithm, roll stability