关键词: 线性二次型最优控制, 遗传算法, 差动制动, 侧翻稳定性

Abstract: In order to prevent SUV rollover,this paper proposes a linear quadratic regulator (LQR) method optimized by the adaptive multi-population genetic algorithm to generate differential braking.A three-degree-of-freedom vehicle dynamics model is established,including lateral,yaw and roll motions.According to vehicle status parameters,an LQR anti-rollover controller is designed to control the braking force of the four wheels.Then,an adaptive multi-population genetic algorithm is proposed to optimize the LQR parameter matrix.Furthermore,the rollover performance of the SUV is simulated under some typical conditions.The results show that this method can effectively prevent SUV rollover.Compared with the controller with manual parameter adjustment,the LQR anti-rollover controller can more quickly control and stablize the yaw rate,rollover indexes and the roll angle,which improves active safety of the SUV.In addition,the optimized anti-rollover control has good robustness under different conditions.