为提高车辆的操纵稳定性,设计了采用横摆力矩优化分配方法的车辆稳定性控制系统。控制系统的上层采用基于最优理论的横摆力矩控制器,该控制器根据校正横摆力矩来计算目标控制车轮的参考滑移率;下层是PID控制器,它跟踪上层控制器的参考滑移率,对目标车轮施加制动力矩从而使车辆稳定。采用八自由度非线性车辆模型在不同工况下进行仿真,结果表明所设计的控制系统能够有效地改善车辆的操纵稳定性。 In order to improve the handling stability of the vehicle, a vehicle stability control system based on the optimal distribution of yaw moment is designed. The upper layer of the control system uses a yaw moment controller based on the optimal theory that calculates the reference slip ratio of the target control wheel based on the corrected yaw moment. The lower layer is a PID controller that tracks the reference slip of the upper controller Rate, apply a braking torque to the target wheel to stabilize the vehicle. The simulation of the non-linear vehicle model with eight degrees of freedom under different working conditions shows that the designed control system can effectively improve the handling stability of the vehicle.