基于灰色预测的驾驶员-汽车系统侧翻预测
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摘要
为了保证高速行车安全性,研究了基于预瞄-预测模型的汽车侧翻评价指标估计问题,提出了一种基于预瞄-预测驾驶员模型的侧翻预测方法。以高重心汽车为研究对象,建立了三自由度汽车模型和预瞄驾驶员模型;基于预瞄-跟随理论和灰色预测理论,搭建了预瞄-预测驾驶员模型;根据汽车侧翻的机理提出了能反映侧翻情况的指标——横向载荷转移率,并在此基础上提出了汽车侧翻指标估计-预测模型;基于主动转向控制策略和汽车侧翻指标估计-预测模型构建了汽车侧翻预测系统,并进行了不同工况下的仿真分析,从而验证了侧翻预测系统的有效性。
In order to guarantee the high speed train operation safety,an estimation of rollover evaluation index was studied based on preview-estimate driver model,and a vehicle rollover predicting system was designed based on preview-estimate driver model. Focused on the cars with high center of gravity,a three degree-of-freedom vehicle rollover dynamic model and a driver model were built. And the preview-estimate driver model was established based on the preview-follower theory and the theory of grey prediction. According to the mechanism of rollover,the LTR that could reflect the rollover situation was introduced,and the vehicle rollover index estimation-prediction model was proposed. And the vehicle rollover prediction system was established based on the active-steering rollover prevention control strategy and estimate-prediction model of vehicle rollover index. The rollover prediction system was proposed for the simulation analysis under different working conditions,and the effectiveness of the proposed system was confirmed.
In order to guarantee the high speed train operation safety,an estimation of rollover evaluation index was studied based on preview-estimate driver model,and a vehicle rollover predicting system was designed based on preview-estimate driver model. Focused on the cars with high center of gravity,a three degree-of-freedom vehicle rollover dynamic model and a driver model were built. And the preview-estimate driver model was established based on the preview-follower theory and the theory of grey prediction. According to the mechanism of rollover,the LTR that could reflect the rollover situation was introduced,and the vehicle rollover index estimation-prediction model was proposed. And the vehicle rollover prediction system was established based on the active-steering rollover prevention control strategy and estimate-prediction model of vehicle rollover index. The rollover prediction system was proposed for the simulation analysis under different working conditions,and the effectiveness of the proposed system was confirmed.
引文
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[9]管欣,陈永尚,贾鑫,等.预瞄跟随驾驶员模型校正环节参数求解方法[J].汽车工程,2016,38(8):941-1000.GUAN Xin,CHEN Yongshang,JIA Xin,et al.The Determination Method of Parameters in Correction Link of Preview-follower Driver Model[J].Automotive Engineering,2016,38(8):941-1000.
[10]郭孔辉.驾驶员—汽车闭环系统操纵运动的预瞄最优曲率模型[J].汽车工程,1984,6(3):1-16.GUO Konghui.Drivers-vehicle Close-loop Simulation of Handling by“Preselect Optimal Curvature Method”[J].Automotive Engineering,1984,6(3):1-16.
[11]沈峘,谭运生,马爱静,等.两种驾驶员方向控制模型的比较研究[J].重庆理工大学学报(自然科学版),2013,27(12):1-6.SHEN Huan,TAN Yunsheng,MA Aijing,et al.Comparable Study of Two Driver Directional Control Models[J].Journal of Chongqing University of Technology(Natural Science Edition),2013,27(12):1-6.
[12]LAPAPONG S,BROWN A A,SWANSON K S,et al.Zero-moment Point Determination of Worst-case Manoeuvres Leading to Vehicle Wheel Lift[J].Vehicle System Dynamics,2012,50(S1):192-214.
[13]LARISH C,PIYABONGKARN D,TSOURAPAS V,et al.A New Predictive Lateral Load Transfer Ratio for Rollover Prevention Systems[J].IEEE Transactions on Vehicular Technology,2013,62(7):2928-2936.
[14]YOON J,KIM D,YI K.Design of a Rollover Index-based Vehicle Stability Control Scheme[J].Vehicle System Dynamics,2007,45(5):459-475.
[15]刘思峰.灰色系统理论及其应用[M].北京:科学出版社,2010.LIU Sifeng.The Grey System Theory and Application[M].Beijing:Science Press,2010.
[16]张志勇,谭涛,刘鑫,等.客车侧翻评价指标的估计与灰色预测研究[J].中国安全科学学报,2015,25(8):36-42.ZHANG Zhiyong,TAN Tao,LIU Xin,et al.Research on Estimation and Grey Prediction of Bus Rollover Evaluation Index[J].China Safety Science Journal,2015,25(8):36-42.
[2]余志生.汽车理论[M].北京:机械工业出版社,2009.YU Zhisheng.Vehicle Theory[M].Beijing:China Machine Press,2009.
[3]王睿,李显生,任园园,等.基于横向载荷转移量的客车侧倾稳定性分析[J].湖南大学学报(自然科学版),2013,40(5):49-54.WANG Rui,LI Xiansheng,REN Yuanyuan,et al.Roll Stability Analysis of Passenger Car Based on Lateral-load Transfer Rate[J].Journal of Hunan University(Nature Science Edition),2013,40(5):49-54.
[4]金智林,张甲乐,马翠贞.基于动态预警的汽车防侧翻鲁棒控制[J].南京航空航天大学学报,2013,45(6):875-880.JIN Zhilin,ZHANG Jiale,MA Cuizhen.Robust Control Strategy of Vehicle Rollover Prevention Based on Dynamic Warning[J].Journal of Nanjing University of Aeronautics&Astronautics,2013,45(6):875-880.
[5]朱天军,宗长富,吴炳胜,等.基于改进TTR算法的重型汽车侧翻预警系统[J].机械工程学报,2011,47(10):88-94.ZHU Tianjun,ZONG Changfu,WU Bingsheng,et al.Rollover Warning System of Heavy Duty Vehicle Based on Improved TTR Algorithm[J].Chinese Journal of Mechanical Engineering,2011,47(10):88-94.
[6]赵健,郭俐彤,朱冰,等.基于神经网络和侧翻时间算法的轻型汽车侧翻预警[J].吉林大学学报(工学版),2012,42(5):1083-1088.ZHAO Jian,GUO Litong,ZHU Bing,et al.Rollover Warning for Light Vehicles Based on NN-TTR Algorithm[J].Journal of Jilin University(Engineering and Techonology Edition),2012,42(5):1083-1088.
[7]赵健,郭俐彤,朱冰,等.基于底盘集成控制的轻型汽车防侧翻控制[J].汽车工程,2014,36(3):334-367.ZHAO Jian,GUO Litong,ZHU Bing,et al.Roll Control of Light Vehicles Based on Integrated Chassis Control[J].Automotive Engineering,2014,36(3):334-367.
[8]IMINE H,FRIDMAN L M,MADANI T.Steering Control for Rollover Avoidance of Heavy Vehicles[J].IEEE Transactions on Vehicular Technology,2012,61(8):3499-3509.
[9]管欣,陈永尚,贾鑫,等.预瞄跟随驾驶员模型校正环节参数求解方法[J].汽车工程,2016,38(8):941-1000.GUAN Xin,CHEN Yongshang,JIA Xin,et al.The Determination Method of Parameters in Correction Link of Preview-follower Driver Model[J].Automotive Engineering,2016,38(8):941-1000.
[10]郭孔辉.驾驶员—汽车闭环系统操纵运动的预瞄最优曲率模型[J].汽车工程,1984,6(3):1-16.GUO Konghui.Drivers-vehicle Close-loop Simulation of Handling by“Preselect Optimal Curvature Method”[J].Automotive Engineering,1984,6(3):1-16.
[11]沈峘,谭运生,马爱静,等.两种驾驶员方向控制模型的比较研究[J].重庆理工大学学报(自然科学版),2013,27(12):1-6.SHEN Huan,TAN Yunsheng,MA Aijing,et al.Comparable Study of Two Driver Directional Control Models[J].Journal of Chongqing University of Technology(Natural Science Edition),2013,27(12):1-6.
[12]LAPAPONG S,BROWN A A,SWANSON K S,et al.Zero-moment Point Determination of Worst-case Manoeuvres Leading to Vehicle Wheel Lift[J].Vehicle System Dynamics,2012,50(S1):192-214.
[13]LARISH C,PIYABONGKARN D,TSOURAPAS V,et al.A New Predictive Lateral Load Transfer Ratio for Rollover Prevention Systems[J].IEEE Transactions on Vehicular Technology,2013,62(7):2928-2936.
[14]YOON J,KIM D,YI K.Design of a Rollover Index-based Vehicle Stability Control Scheme[J].Vehicle System Dynamics,2007,45(5):459-475.
[15]刘思峰.灰色系统理论及其应用[M].北京:科学出版社,2010.LIU Sifeng.The Grey System Theory and Application[M].Beijing:Science Press,2010.
[16]张志勇,谭涛,刘鑫,等.客车侧翻评价指标的估计与灰色预测研究[J].中国安全科学学报,2015,25(8):36-42.ZHANG Zhiyong,TAN Tao,LIU Xin,et al.Research on Estimation and Grey Prediction of Bus Rollover Evaluation Index[J].China Safety Science Journal,2015,25(8):36-42.