AFS/DYC integrated control method based on similar PID-STSM

The invention discloses an AFS/DYC integrated control method based on similar PID-STSM, and the method mainly comprises the steps: 1, constructing a side slip angle observer with a transverse acceleration ay and a yaw velocity gamma as feedback based on a vehicle two-degree-of-freedom model; 2, obtaining a controlled mathematical model by decoupling and introducing a disturbance term; 3, designing a PID-like disturbance observer; 4, designing a composite super-spiral controller based on a PID-like disturbance observer; and 5, designing an active front wheel steering and direct yawing moment weight distribution strategy and a direct yawing moment system four-wheel moment distribution scheme based on the vertical load. The method has the advantages that 1, the disturbance tracking precision is higher under the same parameters; 2, the control gain of superhelix control is reduced, and system buffeting is reduced; 3, the limit longitudinal acceleration corresponds to the limit front wheel rotation angle, an acceleration sensor is omitted, and meanwhile application is more convenient; and 4, a continuous function is selected for weight ratio distribution of integrated control, so that adverse effects caused by back-and-forth switching of the system near a switching point are avoided.