基于理想变传动比的主动前轮转向滑模控制
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摘要
针对主动前轮转向系统,以提高车辆的转向性能为目标,建立七自由度车辆模型、Dugoff轮胎模型,确定基于固定横摆角速度增益的理想变传动比规律,并提出基于此规律的主动前轮转向附加转角滑模控制策略。利用Simulink搭建仿真平台,对提出的策略进行了验证,仿真结果表明,与普通变传动比相比,基于理想变传动比规律的主动前轮转向系统滑模控制策略有利于车辆获得更为理想的转向性能。
To improve the steering performance of active front steering system,a seven DOFs model of vehicle and a Dugoff tire model are established.An ideal variable transmission ratio law based on the fixed yaw rate gain is determined.A sliding mode control strategy for active front steering system additional angles based on this method is proposed.A simulation platform is established in Simulink,which is used to verify the proposed strategy.The simulation results show that compared with the basic variable transmission ratio,the sliding mode control strategy for the active front wheel steering system based on the ideal variable transmission ratio law is beneficial to obtain more ideal steering performance for the vehicle.
To improve the steering performance of active front steering system,a seven DOFs model of vehicle and a Dugoff tire model are established.An ideal variable transmission ratio law based on the fixed yaw rate gain is determined.A sliding mode control strategy for active front steering system additional angles based on this method is proposed.A simulation platform is established in Simulink,which is used to verify the proposed strategy.The simulation results show that compared with the basic variable transmission ratio,the sliding mode control strategy for the active front wheel steering system based on the ideal variable transmission ratio law is beneficial to obtain more ideal steering performance for the vehicle.
引文
[1]喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2016:301-302.
[2]Gao Z,Wang J,Wang D.Dynamic Modeling and Steering Performance Analysis of Active Front Steering System[J].Procedia Engineering,2011,15(1):1030-1035.
[3]Doumiati M,Sename O,Dugard L,et al.Integrated Vehicle Dynamics Control via Coordination of Active Front Steering and Rear Braking[J].European Journal of Control,2013,19(2):121-143.
[4]Tajima J,Yuhara N,Sano S,et al.Effects of Steering System Characteristics on Control Performance from the Viewpoint of Steer-By-Wire System Design[J].SAE Technical Paper1999-01-0821,1999.
[5]商高高,张杰.基于非线性二自由度模型的线控转向系统变角传动比设计[J].重庆理工大学学报(自然科学),2018,32(9):6-13.
[6]周兵,范璐,骆晨.主动前轮转向变传动比曲线分析与设计[J].湖南大学学报(自然科学版),2014,41(2):73-78.
[7]Nam K,Oh S,Fujmoto H,et al.Robust Yaw Stability Control for Electric Vehicles Based on Active Front Steering Control through a Steer-By-Wire System[J].International Journal of Automotive Technology,2012,13(7):1169-1176.
[8]Diao X,Jin Y,Ma L,et al.Composite Active Front Steering Controller Design for Vehicle System[J].IEEE Access,2017,5:6697-6706.
[9]桑楠,魏民祥,白玉.汽车主动前轮转向的自抗扰控制器设计[J].机械科学与技术,2017,36(5):767-772.
[10]李一染,陈慧,高博麟.自抗扰控制在前轮主动转向控制中的应用[J].汽车工程,2011,33(5):388-391.
[11]夏长高,赵维林,任英文.RBF神经网络的主动前轮转向滑模控制[J].机械设计与制造,2018(9):21-24.
[12]杜峰,闫光辉,魏朗,等.主动四轮转向汽车最优控制及闭环操纵性仿真[J].汽车工程,2014,36(7):848-852.
[13]Chu L,Gao X,Guo J,et al.Coordinated Control of Electronic Stability Program and Active Front Steering[J].Procedia Environmental Sciences,2012,12(Part B):1379-1386.
[14]杨舒涵,王春燕,赵万忠.主动前轮转向车辆操纵稳定性的仿真分析[J].重庆理工大学学报(自然科学),2015,29(1):16-22+26.
[15]胡剑,刘鹏,李刚炎.基于MPC的大型客车转向-制动集成控制研究[J].汽车技术,2019(2):58-62.
[16]王春燕,崔滔文,赵万忠,等.基于理想传动比的主动前轮转向控制[J].农业工程学报,2015,31(4):85-90.
[17]Pacejka H B.Tyre and Vehicle Dynamics[M].2nd ed.Elsevier,2006.
[18]Dugoff H,Fancher P S,Segel L.An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance[J].SAE Transactions,1970:1219-1243.
[19]宋涛.轮毂驱动电动车的路面附着系数估计方法研究[D].哈尔滨:哈尔滨工业大学,2017.
[20]余志生.汽车理论[M].北京:机械工业出版社,2000.
[21]赵维林.车辆转向制动稳定性控制研究[D].镇江:江苏大学,2017.
[22]周兵,田晨,宋义彤,等.基于路面附着系数估计的AFS控制策略研究[J].湖南大学学报(自然科学版),2017,44(4):16-22.
[23]袁希文,文桂林,周兵.分布式电驱动汽车AFS与电液复合制动集成控制[J].湖南大学学报(自然科学版),2016,43(2):28-35.
[2]Gao Z,Wang J,Wang D.Dynamic Modeling and Steering Performance Analysis of Active Front Steering System[J].Procedia Engineering,2011,15(1):1030-1035.
[3]Doumiati M,Sename O,Dugard L,et al.Integrated Vehicle Dynamics Control via Coordination of Active Front Steering and Rear Braking[J].European Journal of Control,2013,19(2):121-143.
[4]Tajima J,Yuhara N,Sano S,et al.Effects of Steering System Characteristics on Control Performance from the Viewpoint of Steer-By-Wire System Design[J].SAE Technical Paper1999-01-0821,1999.
[5]商高高,张杰.基于非线性二自由度模型的线控转向系统变角传动比设计[J].重庆理工大学学报(自然科学),2018,32(9):6-13.
[6]周兵,范璐,骆晨.主动前轮转向变传动比曲线分析与设计[J].湖南大学学报(自然科学版),2014,41(2):73-78.
[7]Nam K,Oh S,Fujmoto H,et al.Robust Yaw Stability Control for Electric Vehicles Based on Active Front Steering Control through a Steer-By-Wire System[J].International Journal of Automotive Technology,2012,13(7):1169-1176.
[8]Diao X,Jin Y,Ma L,et al.Composite Active Front Steering Controller Design for Vehicle System[J].IEEE Access,2017,5:6697-6706.
[9]桑楠,魏民祥,白玉.汽车主动前轮转向的自抗扰控制器设计[J].机械科学与技术,2017,36(5):767-772.
[10]李一染,陈慧,高博麟.自抗扰控制在前轮主动转向控制中的应用[J].汽车工程,2011,33(5):388-391.
[11]夏长高,赵维林,任英文.RBF神经网络的主动前轮转向滑模控制[J].机械设计与制造,2018(9):21-24.
[12]杜峰,闫光辉,魏朗,等.主动四轮转向汽车最优控制及闭环操纵性仿真[J].汽车工程,2014,36(7):848-852.
[13]Chu L,Gao X,Guo J,et al.Coordinated Control of Electronic Stability Program and Active Front Steering[J].Procedia Environmental Sciences,2012,12(Part B):1379-1386.
[14]杨舒涵,王春燕,赵万忠.主动前轮转向车辆操纵稳定性的仿真分析[J].重庆理工大学学报(自然科学),2015,29(1):16-22+26.
[15]胡剑,刘鹏,李刚炎.基于MPC的大型客车转向-制动集成控制研究[J].汽车技术,2019(2):58-62.
[16]王春燕,崔滔文,赵万忠,等.基于理想传动比的主动前轮转向控制[J].农业工程学报,2015,31(4):85-90.
[17]Pacejka H B.Tyre and Vehicle Dynamics[M].2nd ed.Elsevier,2006.
[18]Dugoff H,Fancher P S,Segel L.An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance[J].SAE Transactions,1970:1219-1243.
[19]宋涛.轮毂驱动电动车的路面附着系数估计方法研究[D].哈尔滨:哈尔滨工业大学,2017.
[20]余志生.汽车理论[M].北京:机械工业出版社,2000.
[21]赵维林.车辆转向制动稳定性控制研究[D].镇江:江苏大学,2017.
[22]周兵,田晨,宋义彤,等.基于路面附着系数估计的AFS控制策略研究[J].湖南大学学报(自然科学版),2017,44(4):16-22.
[23]袁希文,文桂林,周兵.分布式电驱动汽车AFS与电液复合制动集成控制[J].湖南大学学报(自然科学版),2016,43(2):28-35.