汽车四轮独立转向稳定性控制策略研究
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摘要
为深入研究四轮独立转向对汽车操纵稳定性与运动协调性的影响,考虑阿克曼转向定理,推导出各车轮间转向角关系,并建立阿克曼定理的四轮独立转向模型;建立线性二自由度四轮转向理想参考模型;利用carsim建立多自由度整车模型。提出一种前馈采用阿克曼定理,反馈采用模糊控制的四轮独立转向联合控制策略,设计方向盘斜坡转向输入工况,通过Carsim与Simulink进行联合仿真,仿真结果表明,多自由度整车模型的质心侧偏角与横摆角速度都能接近理想状态。设计的阿克曼前馈与模糊反馈的四轮独立转向联合控制策略即实现了车辆转向的运动协调性,又改善了车辆操纵稳定性。
In order to deeply study the influence of four-wheel independent steering system on automobile handling stability and movement coordination, considering the Ackerman's steering theorem, the steering angle relationship between the wheels were derived and then four-wheel independent steering model of Ackerman's theorem was built. The linear two-degree-of-freedom four-wheel independent steering model and the multi-degree-of-freedom vehicle model were established. A feedforward control strategy based on Ackerman's theorem and a feedback control strategy based on fuzzy control were proposed. The simulation condition of steering wheel slope steering was designed,and the joint simulation of Carsim and Simulink were adopted. In conclusion, the centroid sideslip angle and yaw rate of multi-degree-of-freedom whole vehicle model are close to ideal state. The design of Ackerman feedforward and fuzzy feedback's four-wheel independent steering joint control strategy not only considers the movement coordination of the vehicle steering but also improves the vehicle handling stability.
In order to deeply study the influence of four-wheel independent steering system on automobile handling stability and movement coordination, considering the Ackerman's steering theorem, the steering angle relationship between the wheels were derived and then four-wheel independent steering model of Ackerman's theorem was built. The linear two-degree-of-freedom four-wheel independent steering model and the multi-degree-of-freedom vehicle model were established. A feedforward control strategy based on Ackerman's theorem and a feedback control strategy based on fuzzy control were proposed. The simulation condition of steering wheel slope steering was designed,and the joint simulation of Carsim and Simulink were adopted. In conclusion, the centroid sideslip angle and yaw rate of multi-degree-of-freedom whole vehicle model are close to ideal state. The design of Ackerman feedforward and fuzzy feedback's four-wheel independent steering joint control strategy not only considers the movement coordination of the vehicle steering but also improves the vehicle handling stability.
引文
[1]陈国栋.四轮独立电动汽车四轮转向研究及试验平台搭建时间/s(a)40km/h横摆角速度对比[D].南京航空航天大学,2015.
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[9]C Ren,C Zhang,L Liu.Influences of the front wheel steering angle on vehicle handling and stability and a control theory of Steady-state[J].International Journal of Intelligent Systems&Applications,2011,3(4):56-62.
[10]王菁.线控四轮转向汽车的鲁棒控制研究[D].吉林大学,2016.
[11]宗长富,孙浩,陈国迎.分布式独立转向车辆的转角分配方法[J].华南理工大学学报(自然科学版),2017,45(2):16-22.
[12]Ma Xiaoshuang,Shi Zhengjin.An improved Fuzzy-PID technology of vehicle attitude control system design[J].Application of Electronic Technique,2016.
[13]周佳.四轮转向系统控制策略对比研究[D].北京理工大学,2015.
[2]何浩然,等.汽车四轮转向控制策略研究[J].汽车实用技术,2016,(1):32-34.
[3]Z Q Li,L Tang,R Liu.Dynamic modeling based on zero side-slip angle of the gravity center for multi-axis steering vehicles[J].Advanced Materials Research,2014,912-914:653-657.
[4]舒进,陈思忠,杨林.四轮独立转向系统控制策略与试验[J].农业机械学报,2005,36(7):25-28.
[5]L Jin,et al.Research on the control and coordination of fourwheel independent driving steering electric vehicle[J].Advances in Mechanical Engineering,9,4(2017-4-01),2017,9(4).
[6]M A Ali,et al.Lateral acceleration potential field function control for rollover safety of multi-wheel military vehicle with in-wheelmotors[J].International Journal of Control Automation&Systems,2017:1-11.
[7]张聪,等.4WIS-4WI车辆横摆稳定性AFS+ARS+DYC滑模控制[J].汽车工程,2014,36(3):304-309.
[8]赵景川.汽车内外转向轮转角的关系[J].汽车工程学报,1995,(qc):37-39.
[9]C Ren,C Zhang,L Liu.Influences of the front wheel steering angle on vehicle handling and stability and a control theory of Steady-state[J].International Journal of Intelligent Systems&Applications,2011,3(4):56-62.
[10]王菁.线控四轮转向汽车的鲁棒控制研究[D].吉林大学,2016.
[11]宗长富,孙浩,陈国迎.分布式独立转向车辆的转角分配方法[J].华南理工大学学报(自然科学版),2017,45(2):16-22.
[12]Ma Xiaoshuang,Shi Zhengjin.An improved Fuzzy-PID technology of vehicle attitude control system design[J].Application of Electronic Technique,2016.
[13]周佳.四轮转向系统控制策略对比研究[D].北京理工大学,2015.