On The Modeling,control And Experiment Of The Automobile Active Stabilizer Bar System With Hydraulic Motor

The car running at high speed and large steering condition,due to the centrifugal force,the body may roll,vehicle weight will shift and it is easy to cause the accident over.Aiming at this problem,the paper research active roll prevention technology of vehicle,ensure that when the car swerved in,it does not produce too big body roll.The most widely used active anti roll technology included active braking technology,active suspension technology,active steering and active stabilizer technology etc.Especially the research on active stabilizer technology,because of its anti-roll flexible,fast response and low development costs,it has received the attention of many experts and scholars.Based on this background,the paper studies the technology of active stabilizer system.Firstly,in this paper,taking active stabilizer bar system with hydraulic motor as a study object,the nonlinear dynamical model of active stabilizer bar system with hydraulic motor was established,and obtained the dynamic relationship of hydraulic motor output torque and vehicle lateral acceleration and roll angle.Secondly,the control strategy of active stabilizer bar system is studied.Designing the active stabilizer bar system’s feedback linearization controller and sliding mode variable structure sliding mode controller.Combined with the feedback linearization method and sliding mode variable structure control method,forming a set of nonlinear system control strategy appling in active stabilizer bar system,namely linear feedback sliding mode control strategy,the control strategy has good robustness and can effectively suppress the chattering of the control system.And controller’s stability is proved by Lyapunov theory.By using Carsim software and Matlab/Simulink software carried out joint simulation of active stabilizer bar system.Through the comparison of the simulation results,it can be concluded that the linear feedback sliding mode control method can suppress chattering,avoid system interference and its control effect is the best.Finally,develop the hardware circuit of controller of active stabilizer bar system,including minimum system circuit,signal processing circuit and electromagnetic valve driving circuit ect,and make the hardware circuit board of controller.In the aspect of the controller software,design the system main program,signal acquisition program and solenoid valve driver.Carried out vehicle test combined with the controller software and hardware system,test result shows that stabilizer bar system of using the linear feedback sliding mode control strategy has good anti-roll performance and handling stability.