MATHEMATICAL MODELING OF THE VEHICLE STABILITY CONTROL OF THE VEHICLE

Abstract

The paper reviews the scientific and technical literature on the development of electronic stability systems with brake force distribution, which led to the conclusion that for all-terrain wheeled vehicles such systems should be built using inertial navigation sensors - gyroscopes and accelerators. The proposed functional scheme of the stability system with brake force distribution is built using the principles of platformless inertial systems, in which the orientation of the car body relative to the axes of the inertial coordinate system is carried out by calculating in the onboard digital computer quaternion in contrast to Euler angles can be calculated with the required degree of accuracy using a fairly simple algorithm. Algorithms for estimating the current parameters of perturbed motion of the wheel body in the process of its urgent braking, namely, the angle of deviation of the elongated axis of the body from a given direction, angular velocity and lateral displacement of the center of gravity relative to a given trajectory. On the basis of the current estimation of the listed parameters the algorithm of stabilization of the case of the wheeled car in the mode of its urgent braking is formed.