重型汽车多目标ESP控制研究
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- 英文论文题名：Research on Multi-objective ESP Control of a Heavy-duty
- 论文作者：李韶华 ; 尤严俊 ; 路永婕
- 英文论文作者：Li Shaohua ; You Yanjun ; Lu Yongjie ; School of Mechanical Engineering ; Shijiazhuang Tiedao University
- 年：2016
- 作者机构：石家庄铁道大学机械工程学院;
- 论文关键词：重型汽车 ; ESP ; ADAMS ; PID加权控制 ; PID协调控制
- 英文论文关键词：heavy-duty vehicles ; ESP ; ADAMS ; PID coordinated control ; PID weighted control
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463.6
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：5
- 文件大小：865k
- 原文格式：O
- 会议级别：全国
摘要
针对某型三轴重型汽车在ADAMS,Car中建立了重型汽车整车模型,然后基于ADAMS-MATLAB的联合仿真,以横摆角速度和质心侧偏角为控制变量,提出了多目标PID协调控制和多目标PID加权控制这两种策略,并分别设计了ESP控制系统。在阶跃工况和单移线工况下,以横摆角速度、质心侧偏角、垂向加速度和侧倾角等参数为评价指标,研究了两种控制策略下重型汽车的行驶稳定性和平顺性。研究发现,两种控制策略效果良好,可有效提高汽车行操纵稳定性,并改善平顺性,且多目标PID加权控制的效果更优。
For a three axis heavy-duty vehicle,the heavy-duty vehicle full-body model was built in ADAMS/Car.With yaw rate and sideslip angle being as control variable,two kinds of ESP control system,the multi-objective PID coordinated control and multi-objective PID weighted control,are designed based on ADAMS- MATLAB co- simulation.Under step condition and single lane change condition,taking yaw rate and side slip angle,vertical acceleration and roll angle as the evaluation index,the driving stability and ride comfort of the heavy vehicle are studied.It has been found that both control methods show good control effects and improve the driving stability and the ride comfort greatly,and the multi-objective PID weighted control is more effective.
For a three axis heavy-duty vehicle,the heavy-duty vehicle full-body model was built in ADAMS/Car.With yaw rate and sideslip angle being as control variable,two kinds of ESP control system,the multi-objective PID coordinated control and multi-objective PID weighted control,are designed based on ADAMS- MATLAB co- simulation.Under step condition and single lane change condition,taking yaw rate and side slip angle,vertical acceleration and roll angle as the evaluation index,the driving stability and ride comfort of the heavy vehicle are studied.It has been found that both control methods show good control effects and improve the driving stability and the ride comfort greatly,and the multi-objective PID weighted control is more effective.
引文
[1]Bo Chen,Hui Peng.Differential-braking-based rollover prevention for sport utility vehicles with human-in-theloop evaluations[J].Vehicle System Dynamics,2001,36(4-5):259-389.
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[3]Motoki Shino,Masao Nagai.Yaw-moment control of electric for improving handling and stability[J].JSAE Review,2001(22):473-480.
[4]王振臣,程菊,张聪,等.基于模糊控制的汽车ESP控制系统仿真[J].模糊系统与数学,2013,27(5):88-94.
[5]信瑛南,张新,曾志伟.基于蚁群优化的ESP控制算法仿真[J].长沙理工大学学报:自然科学版,2012,9(2):63-67.
[6]张荣芸,黄鹤,陈无畏,等.基于功能分配与多目标模糊决策的EPS和ESP协调控制[J].机械工程学报,2014,50(6):99-106.
[7]程军.载货汽车转弯制动模拟研究与评价[J].试验与研究,1999(1):33-36.
[8]李耀旭,王云超,冯培锋.三轴转向车辆侧向稳定性控制策略分析[J].计算机仿真,2013,30(2):152-155.
[9]高红博.半挂汽车列车转弯制动方向稳定性及控制策略研究[D].吉林:吉林大学交通学院,2014.
[10]周红妮,陶健民.质心侧偏角和横摆角速度对车辆稳定性的影响研究.湖北汽车工业学院学报,2008,22(2):6-24.
[11]杨绍普,陈立群,李韶华.车辆-道路耦合系统动力学研究[M].北京:科学出版社,2012.
[12]李韶华,吴金毅.重型汽车横摆稳定性的差动制动模糊控制方法[J].科技导报,2014,32(28/29):91-96.
[2]Cong Geng,Lotfi Mostefai,et al.Design on adaptive fuzzy observer of vehicle side slip angle[C].Technical Meeting on Vehicle Technology,IEEE Japan,2007.
[3]Motoki Shino,Masao Nagai.Yaw-moment control of electric for improving handling and stability[J].JSAE Review,2001(22):473-480.
[4]王振臣,程菊,张聪,等.基于模糊控制的汽车ESP控制系统仿真[J].模糊系统与数学,2013,27(5):88-94.
[5]信瑛南,张新,曾志伟.基于蚁群优化的ESP控制算法仿真[J].长沙理工大学学报:自然科学版,2012,9(2):63-67.
[6]张荣芸,黄鹤,陈无畏,等.基于功能分配与多目标模糊决策的EPS和ESP协调控制[J].机械工程学报,2014,50(6):99-106.
[7]程军.载货汽车转弯制动模拟研究与评价[J].试验与研究,1999(1):33-36.
[8]李耀旭,王云超,冯培锋.三轴转向车辆侧向稳定性控制策略分析[J].计算机仿真,2013,30(2):152-155.
[9]高红博.半挂汽车列车转弯制动方向稳定性及控制策略研究[D].吉林:吉林大学交通学院,2014.
[10]周红妮,陶健民.质心侧偏角和横摆角速度对车辆稳定性的影响研究.湖北汽车工业学院学报,2008,22(2):6-24.
[11]杨绍普,陈立群,李韶华.车辆-道路耦合系统动力学研究[M].北京:科学出版社,2012.
[12]李韶华,吴金毅.重型汽车横摆稳定性的差动制动模糊控制方法[J].科技导报,2014,32(28/29):91-96.