Research On The Control Algorithm Of The Motor-based Active Stabilizer Bar

As one of the main tools to suppress the roll of the vehicle body,the active stabilizer bar can adjust the output anti-roll moment depending on the roll level of the vehicle in real time.The active stabilizer bar system can be divided into two types according to the different actuators,which are electric active stabilizer bar system and hydraulic active stabilizer bar system.Compared with the hydraulic active stabilizer bar system,electric active stabilizer bar system has the advantages of fast response,high integration and high energy efficiency,which is more suitable for smaller vehicles.With the rapid development of electric vehicles,in order to promote the application of active stabilizer bar on electric vehicles,the electric active stabilizer bar system is chosen as the object of this article.At present,the researches on the electric active stabilizer bar system have reached a relatively mature stage at home and abroad,however,most of the control systems are limited to the case of serious roll of the vehicle.In the process of actual driving of the vehicle,the pavement and parameters of vehicle are changing constantly,in addition,the performance of the actuator is limited,it is difficult for the electric active stabilizer bar system to meet both ride comfort and roll stability in each range.In this article,a domestic light commercial vehicle is taken as the target objection.The optimization design of the electric active stabilizer bar control system is researched.First of all,a 14-DOF vehicle dynamics model and a motor actuator model are established based on MATLAB/Simulink software.In order to taking both comfort and roll stability into consideration,the lateral acceleration and roll angle are quantitatively analyzed according to the different driving conditions of the vehicle,and then three working modes are designed,that is,the active stabilizer bar works normally,the motor is short-circuited,and system does not work.When the active stabilizer bar is working in normal,the external disturbances and parameter disturbances are certificated to have a great influence on the roll stability of the vehicle,based on this,the upper controller is designed by sliding mode control algorithm,and the disturbance is taken into account in the control algorithm to improve the robustness of the system.three closed-loop control strategy is adopted to control the motor,the outer-loop is the position control,the PID control is adopted,the middle-loop is the speed control,the PID control is used and the inner-loop is the current control.Large torque ripple is a big problem of the permanent magnet DC brushless motor,in order to reduce the energy consumption of the system,the current control is designed by using the optimal control algorithm.The appropriate controller is established in the Matlab/simulink environment.The electric active stabilizer bar control system is analyzed by simulation under the conditions of the set speed,road conditions,steering conditions.Finally,the hardware-in-the-loop simulation experiment of electric active stabilizer control system is carried out under typical steering conditions.Simulation results show that the proposed multi-mode control strategy of the electric active stabilizer bar control system can balance the roll stability and ride comfort of the vehicle under different driving conditions.In addition,the controller proposed in this paper can reduce the roll angle of the vehicle body,enhance the roll stability effectively,and have a good robustness to external disturbance and parameter disturbance when the vehicle is rolling,meanwhile,the output characteristics of the motor can meet the requirements,and energy consumption is reduced.