关键词: 车载角速度传感器, 汽车横摆角速度, 汽车失稳, 控制方法

Abstract: To ensure the smooth operation of the car, a method for controlling the instability of the car′s lateral angular velocity based on the onboard angular velocity sensor was proposed. Firstly, the yaw rate data of the vehicle was obtained using the in-vehicle angular velocity sensors, and based on this, observational signal descriptions and analytical equations were establi-shed. Then, under the theory of yaw dynamics, evaluation indices for vehicle yaw rate instability were set, and the actual yaw rate of the vehicle was compared with its ideal value. The difference between the actual observed yaw rate and the ideal value was converted into fuzzy variables through fuzzy rules, and the evaluation indices were fused using fuzzy sets. Finally, based on the fusion results, the control torque for the vehicle's yaw rate was determined, achieving control over vehicle yaw rate instability. The results show that using the snake shaped working condition as the test case, the vehicle's yaw rate controlled by the studied method is less than 15 rad/s, which does not exceed the limit value, and can ensure that the vehicle wheels change under the same standard, effectively controlling the stability of the yaw rate and ensuring the smooth operation of the vehicle.

Key words: vehicle mounted angular velocity sensor, vehicle lateral angular velocity, car instability, control methods