四轮转向汽车稳定性控制系统研究
|
摘要
本文围绕四轮转向(4WS)汽车操纵稳定性控制中的直接横摆力偶矩控制系统展开研究,着重讨论了汽车稳定性控制系统的滑模变结构控制的控制逻辑与控制算法,并通过仿真分析为实际汽车操纵稳定性控制系统的设计提供了理论依据。
本文利用H.B.Pacejka教授提出的魔术公式建立了轮胎力学模型,在此基础上建立了四轮转向汽车的动力学模型,并通过仿真对车辆模型进行了验证,为控制系统的仿真分析奠定了模型基础。
分析了直接横摆力偶矩控制方法提高极限工况下弯道加速(或制动)行驶能力,从而改善汽车操纵稳定性的机理,为汽车稳定性控制提供了理论基础。运用滑模变结构控制理论,分别设计了基于质心侧偏角和横摆角速度这两个控制变量的三种具有针对性的控制器——横摆角速度控制、质心侧偏角控制和联合控制策略下的控制。
在MATLAB/Simulink仿真平台上,对不同工况下汽车稳定性控制策略及控制参数等因素对控制品质的影响进行了研究。对仿真结果的比较分析表明:在低附着路面上应以质心侧偏角控制为主,从而控制过大的质心侧偏角;在高附着路面上应以横摆角速度控制为主,以抑制较大的侧向加速度;而在中等附着路面上,应根据实际车辆响应参数来决定到底应该采用何种控制策略。
模拟考察了在变结构控制方法下,四轮转向汽车模型的瞬态和稳态响应特性,包括横摆角速度和侧向加速度的响应特性,以及其他的动力学特性指标。考虑质心位置,整车质量和后轮主销位置等因素对控制系统的影响,对不同参数下的行驶特性进行了比较。
仿真结果表明,四轮转向汽车稳定性控制系统可以改善稳态转向特性、提高极限工况下弯道行驶能力,提高了汽车的安全行驶性能;也表明汽车稳定性控制系统中应用滑模变结构控制理论具有良好的实用价值。
Focusing on the direct yaw moment control for four-wheel steering(4WS) automotive stability control system, the control logic and algorithm of vehicle stability control system (VSC) on Variable Structure Control System with Sliding Mode are studied, and the simulations are made through some typical cases, and provide the theoretical basis for designing VSC system.
Based on Prof. H.B.Pacejka's Magic Formula tire theory, this paper sets up a full condition tire model, and the model for vehicle stability control system under tire adhesion limit is built, which provides us a good vehicle model for simulating vehicle stability control.
The mechanism of the Direct Yaw Moment Control (DYC) method enhance curve accelerating (or braking) capability at limiting behavior, improve automobile control stability is explained. This provides the theory for vehicle stability simulation and control. Based on vehicle side-slip angle and yaw rate, 3 different kinds of vehicle handling stability controller are designed using variable structure control with sliding mode theory.
At MATLAB/Simulink simulation flat, do simulation experiment of the concept car model with the direct yaw moment control; and how the control parameters impact the control quality have been studied. Comparing and analyzing the experiment results, it is shown that: on the low adhesion road beta control should be the primary as it can decrease the large side-slip angle; on the high adhesion road omiga control is the best choice because it can restrain the oversized lateral acceleration; on the mid-adhesion road, the right control strategy should be identified by the vehicle responses.
At last, the dynamic responses of the 4WS automobiles and are got by simulations of virtual models. Considering the impact of center of mass position, mass of automobile and main forelock position, compare the controllability and stability when the automobile running with the different parameters.
It can be found that the VSC can improve the steady-state steering performance and active safety property of vehicle through the research in this paper. And it is an ideal active safety control technology.
本文利用H.B.Pacejka教授提出的魔术公式建立了轮胎力学模型,在此基础上建立了四轮转向汽车的动力学模型,并通过仿真对车辆模型进行了验证,为控制系统的仿真分析奠定了模型基础。
分析了直接横摆力偶矩控制方法提高极限工况下弯道加速(或制动)行驶能力,从而改善汽车操纵稳定性的机理,为汽车稳定性控制提供了理论基础。运用滑模变结构控制理论,分别设计了基于质心侧偏角和横摆角速度这两个控制变量的三种具有针对性的控制器——横摆角速度控制、质心侧偏角控制和联合控制策略下的控制。
在MATLAB/Simulink仿真平台上,对不同工况下汽车稳定性控制策略及控制参数等因素对控制品质的影响进行了研究。对仿真结果的比较分析表明:在低附着路面上应以质心侧偏角控制为主,从而控制过大的质心侧偏角;在高附着路面上应以横摆角速度控制为主,以抑制较大的侧向加速度;而在中等附着路面上,应根据实际车辆响应参数来决定到底应该采用何种控制策略。
模拟考察了在变结构控制方法下,四轮转向汽车模型的瞬态和稳态响应特性,包括横摆角速度和侧向加速度的响应特性,以及其他的动力学特性指标。考虑质心位置,整车质量和后轮主销位置等因素对控制系统的影响,对不同参数下的行驶特性进行了比较。
仿真结果表明,四轮转向汽车稳定性控制系统可以改善稳态转向特性、提高极限工况下弯道行驶能力,提高了汽车的安全行驶性能;也表明汽车稳定性控制系统中应用滑模变结构控制理论具有良好的实用价值。
Focusing on the direct yaw moment control for four-wheel steering(4WS) automotive stability control system, the control logic and algorithm of vehicle stability control system (VSC) on Variable Structure Control System with Sliding Mode are studied, and the simulations are made through some typical cases, and provide the theoretical basis for designing VSC system.
Based on Prof. H.B.Pacejka's Magic Formula tire theory, this paper sets up a full condition tire model, and the model for vehicle stability control system under tire adhesion limit is built, which provides us a good vehicle model for simulating vehicle stability control.
The mechanism of the Direct Yaw Moment Control (DYC) method enhance curve accelerating (or braking) capability at limiting behavior, improve automobile control stability is explained. This provides the theory for vehicle stability simulation and control. Based on vehicle side-slip angle and yaw rate, 3 different kinds of vehicle handling stability controller are designed using variable structure control with sliding mode theory.
At MATLAB/Simulink simulation flat, do simulation experiment of the concept car model with the direct yaw moment control; and how the control parameters impact the control quality have been studied. Comparing and analyzing the experiment results, it is shown that: on the low adhesion road beta control should be the primary as it can decrease the large side-slip angle; on the high adhesion road omiga control is the best choice because it can restrain the oversized lateral acceleration; on the mid-adhesion road, the right control strategy should be identified by the vehicle responses.
At last, the dynamic responses of the 4WS automobiles and are got by simulations of virtual models. Considering the impact of center of mass position, mass of automobile and main forelock position, compare the controllability and stability when the automobile running with the different parameters.
It can be found that the VSC can improve the steady-state steering performance and active safety property of vehicle through the research in this paper. And it is an ideal active safety control technology.
引文
1李亮,于良耀.汽车动力学稳定性控制系统仿真与研究.系统仿真学报. 2007,19(7):1597~1600
2赵又群,郭孔辉.汽车主动安全性的模糊优化设计.机械科学与技术.2000
3焦凤,陈南,秦绪柏.四轮转向汽车操纵动力学虚拟仿真分析.汽车工程. 2004,26(1)
4 John C.Whitehead. Four Wheel Steering Maneuverability and High Speed Stabilization. SAE, 1999, 880642
5宋昆鹏,唐厚君.汽车稳定性控制系统电控单元(ECU)的开发.工业控制计算机. 2007,20(5):71~73
6 Toizuka. M., VSD. Advanced Control Methods for Automotive Applications. 2001,17~19
7 Guan X.Q., Qu Q.Z., Zhang J.W. etc. Four wheel steering system based on the variable structure model following control. China J. Mech. Eng, 2002, 38(3):54~58
8舒进.比例控制四轮转向车辆运动特性分析.专用汽车. 2002(3):16~19
9乔宇,王洪礼.汽车四轮转向的动力学特性与混杂控制研究.天津大学博士学位论文. 2002
10贺鹏,堀洋一.四轮独立驱动电动汽车的稳定性控制及其最优动力分配法.河北工业大学学报. 2007,36(4):26~32
11郭孔辉,轧浩.车辆四轮转向系统的控制方法.吉林工业大学学报. 2000,(4):1~4
12 Masao Nagai, Motoki Shino, Feng Gao. Study on integrated control of active front steer angle and direct yaw moment. JSAE2002, 23:309~315
13郭孔辉,轧浩,宗昌富.横摆角速度反馈汽车转向控制的理论研究.中国机械工程. 2002,(2):61~65
14李幼德,刘巍等.汽车稳定性控制系统硬件在环仿真.吉林大学学报. 2007,37(4):737~740
15杨林.四轮转向汽车电控系统的研究.北京理工大学硕士学位论文. 2001
16 E. Esmailzadeh, A. Goodarzi, G.R. Vossoughi. Optimal yaw moment controllaw for improved vehicle handling. Mechatronics. 2003(10):659~675 .
17黄忠霖.控制系统MATLAB计算及仿真.国防工业出版社, 2002
18赵学敏,王玉东.汽车底盘构造与维修.国防工业出版社, 2003
19秦绪柏. 4WS汽车虚拟模型建模与动力学仿真.东南大学硕士学位论文. 2004
20 Kapil Kane, Alireza Kashef, Serge Kassardjian, Upasana Taku. Toyota Safety System. 2003.3
21 Goodarzi A, Esmailzadeh E, Vossoughi GR. Direct yaw moment control for motorized wheel electric vehicles. Proceedings of DETC01 ASME Design Engineering Technical Conferences, Pittsburg, Pennsylvania, USA, 2001, (9):9~12
22陈南.车辆动力学和4WS车辆操纵性能控制现状、问题和发展.国际学术动态. 2003,3(1):20~23
23韩忠浩.汽车四轮转向与两轮转向的瞬态响应比较.机械设计与制造. 2001,5(1):77~78
24刘彩志.四轮转向汽车后轮独立系统的研究与开发.北京理工大学硕士学位论文. 2003
25时培成,王立涛.基于四轮独立制动及整车模型的VSC系统仿真.农业机械学报. 2007, 38(6):14~18
26 Yoshikazu Hattori. Optimum Vehicle Dynamics Control Based on Tire Driving and Braking Forces. R&D Review of Toyota CRDL Vol. 38 No. 4
27李健,王国忠.滑模控制在车辆电控稳定系统中的应用.汽车工程. 2004, 26(3):8~13
28 Koibuchi, K. Vehicle Stability Control in Limit Cornering by Active Brake, SAE Tech. Pap. Ser., No.960487(1996)
29 Hattori, Y., Koibuchi, K. and Yokoyama, T. Force and Moment Control with Nonlinear Optimum Distribution for Vehicle Dynamics, AVEC, 2002, 595~600
30宗长富,郭孔辉.汽车操纵稳定性的研究与评价.汽车技术. 2002,2(6): 6~11
31沈沉.基于滑模变结构控制的汽车驱动防滑控制系统的研究.东北大学硕士学位论文. 2003
32刘青,郭孔辉.轮胎侧偏特性分析与建模.公论交通科技. 1999,15(4)
33 Esmailzadeh E, Vossoughi GR, Goodarzi A. Dynamic modeling and analysis of a four motorized wheels electric vehicle. Vehicle Syst Dyn. 2001,35(3): 63~94
34赵治国.车辆动力学及其非线性控制理论技术的研究.西北工业大学博士学位论文. 2002
35王树凤.汽车操纵稳定性虚拟试验系统的研究.中国农业大学硕士学位论文. 2002
36 Mastao Abe et al. Side-slip control to stabilize vehicle lateral motion by direct yaw moment. JSAE Review, 2001(22)
37丁海涛.轮胎附着极限下汽车稳定性控制的仿真研究.吉林大学硕士学位论文. 2003
38 Yoshiyuki Yasui,et al.Improvement for Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control. SAE paper 960485
39 Young Eun Ko,Jang Moo Lee.Estimation of the stability region of a vehicle in plane motion using a topological approach.Int.J.of Vehicle Design, 2002, 30(3)
40 A.T.Van Zanten,R.Erhardt,K.Landesfeind,et al.Vehicle Stabilization By The Vehicle Dynamics Control System ESP. IFAC Mechatronic Systems, Darmstadt, Germany, 2000
41 Taehyun Shim, Donald Margolis.Using mu Feedforward for Vehicle Stability Enhancement. Vehicle System Dynamics,2001,35(2):103~119
42傅耀宇,万亦强.四轮转向车辆稳定性控制器优化设计.轻型汽车技术. 2006(7):17~22
43时培成,李震.汽车多体系统动力学稳定性控制联合仿真.系统仿真学报. 2007,19(9):2045~2048
44 Masato Abe,et al.Side-slip Control to Stabilize Vehicle Lateral Motion by Direct Yaw Moment.JSAE Review, 2001,22:413~419
45 Tohru Yoshioka,et al.Application of Sliding-Mode Theory to Direct Yaw-Moment Control.JSAE Review, 1999,20:523~529
46 Masao Nagai,Motoki Shina,Feng Gao.Study on Integrated Control of Active Front Steering Angle and Direct Yaw Moment.JSAE Review, 2002,23: 309~315
47 Youssef A.Ghoneim,William C.Lin,David M.Sidlosky, et al. Integrated chassis control system to enhance vehicle stability.Int.J.Vehicle Design, 2000, 23(2)
48 Aleksander Hac,Mark O.Bodie.Improvementsin Vehicle Handling Through Integrated Control of Chassis System.Int.J. of Vehicle Design, 2002,29(6)
49张成宝,吴光强.汽车驱动防滑的控制方法研究.汽车工程. 2000,22(5)
50 Mastao Abe et al Side-slip control to stabilize vehicle lateral motion by direct yaw moment. JSAE Review, 2001(22)
51 Furukawa Y.Advanced Chassis Control Systems for Vehicle Handling and Active safety. Veh.Syst Dymamics. 1997,28(2,3)
52秦绪柏.控制器参数对四轮转向和汽车稳定性控制的影响.机械制造与自动化. 2006,35(4):25~27
53冯金芝,喻凡,李君.基于混合仿真技术的车辆横向稳定性控制系统.汽车工程. 2004,26(2):187~192
2赵又群,郭孔辉.汽车主动安全性的模糊优化设计.机械科学与技术.2000
3焦凤,陈南,秦绪柏.四轮转向汽车操纵动力学虚拟仿真分析.汽车工程. 2004,26(1)
4 John C.Whitehead. Four Wheel Steering Maneuverability and High Speed Stabilization. SAE, 1999, 880642
5宋昆鹏,唐厚君.汽车稳定性控制系统电控单元(ECU)的开发.工业控制计算机. 2007,20(5):71~73
6 Toizuka. M., VSD. Advanced Control Methods for Automotive Applications. 2001,17~19
7 Guan X.Q., Qu Q.Z., Zhang J.W. etc. Four wheel steering system based on the variable structure model following control. China J. Mech. Eng, 2002, 38(3):54~58
8舒进.比例控制四轮转向车辆运动特性分析.专用汽车. 2002(3):16~19
9乔宇,王洪礼.汽车四轮转向的动力学特性与混杂控制研究.天津大学博士学位论文. 2002
10贺鹏,堀洋一.四轮独立驱动电动汽车的稳定性控制及其最优动力分配法.河北工业大学学报. 2007,36(4):26~32
11郭孔辉,轧浩.车辆四轮转向系统的控制方法.吉林工业大学学报. 2000,(4):1~4
12 Masao Nagai, Motoki Shino, Feng Gao. Study on integrated control of active front steer angle and direct yaw moment. JSAE2002, 23:309~315
13郭孔辉,轧浩,宗昌富.横摆角速度反馈汽车转向控制的理论研究.中国机械工程. 2002,(2):61~65
14李幼德,刘巍等.汽车稳定性控制系统硬件在环仿真.吉林大学学报. 2007,37(4):737~740
15杨林.四轮转向汽车电控系统的研究.北京理工大学硕士学位论文. 2001
16 E. Esmailzadeh, A. Goodarzi, G.R. Vossoughi. Optimal yaw moment controllaw for improved vehicle handling. Mechatronics. 2003(10):659~675 .
17黄忠霖.控制系统MATLAB计算及仿真.国防工业出版社, 2002
18赵学敏,王玉东.汽车底盘构造与维修.国防工业出版社, 2003
19秦绪柏. 4WS汽车虚拟模型建模与动力学仿真.东南大学硕士学位论文. 2004
20 Kapil Kane, Alireza Kashef, Serge Kassardjian, Upasana Taku. Toyota Safety System. 2003.3
21 Goodarzi A, Esmailzadeh E, Vossoughi GR. Direct yaw moment control for motorized wheel electric vehicles. Proceedings of DETC01 ASME Design Engineering Technical Conferences, Pittsburg, Pennsylvania, USA, 2001, (9):9~12
22陈南.车辆动力学和4WS车辆操纵性能控制现状、问题和发展.国际学术动态. 2003,3(1):20~23
23韩忠浩.汽车四轮转向与两轮转向的瞬态响应比较.机械设计与制造. 2001,5(1):77~78
24刘彩志.四轮转向汽车后轮独立系统的研究与开发.北京理工大学硕士学位论文. 2003
25时培成,王立涛.基于四轮独立制动及整车模型的VSC系统仿真.农业机械学报. 2007, 38(6):14~18
26 Yoshikazu Hattori. Optimum Vehicle Dynamics Control Based on Tire Driving and Braking Forces. R&D Review of Toyota CRDL Vol. 38 No. 4
27李健,王国忠.滑模控制在车辆电控稳定系统中的应用.汽车工程. 2004, 26(3):8~13
28 Koibuchi, K. Vehicle Stability Control in Limit Cornering by Active Brake, SAE Tech. Pap. Ser., No.960487(1996)
29 Hattori, Y., Koibuchi, K. and Yokoyama, T. Force and Moment Control with Nonlinear Optimum Distribution for Vehicle Dynamics, AVEC, 2002, 595~600
30宗长富,郭孔辉.汽车操纵稳定性的研究与评价.汽车技术. 2002,2(6): 6~11
31沈沉.基于滑模变结构控制的汽车驱动防滑控制系统的研究.东北大学硕士学位论文. 2003
32刘青,郭孔辉.轮胎侧偏特性分析与建模.公论交通科技. 1999,15(4)
33 Esmailzadeh E, Vossoughi GR, Goodarzi A. Dynamic modeling and analysis of a four motorized wheels electric vehicle. Vehicle Syst Dyn. 2001,35(3): 63~94
34赵治国.车辆动力学及其非线性控制理论技术的研究.西北工业大学博士学位论文. 2002
35王树凤.汽车操纵稳定性虚拟试验系统的研究.中国农业大学硕士学位论文. 2002
36 Mastao Abe et al. Side-slip control to stabilize vehicle lateral motion by direct yaw moment. JSAE Review, 2001(22)
37丁海涛.轮胎附着极限下汽车稳定性控制的仿真研究.吉林大学硕士学位论文. 2003
38 Yoshiyuki Yasui,et al.Improvement for Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control. SAE paper 960485
39 Young Eun Ko,Jang Moo Lee.Estimation of the stability region of a vehicle in plane motion using a topological approach.Int.J.of Vehicle Design, 2002, 30(3)
40 A.T.Van Zanten,R.Erhardt,K.Landesfeind,et al.Vehicle Stabilization By The Vehicle Dynamics Control System ESP. IFAC Mechatronic Systems, Darmstadt, Germany, 2000
41 Taehyun Shim, Donald Margolis.Using mu Feedforward for Vehicle Stability Enhancement. Vehicle System Dynamics,2001,35(2):103~119
42傅耀宇,万亦强.四轮转向车辆稳定性控制器优化设计.轻型汽车技术. 2006(7):17~22
43时培成,李震.汽车多体系统动力学稳定性控制联合仿真.系统仿真学报. 2007,19(9):2045~2048
44 Masato Abe,et al.Side-slip Control to Stabilize Vehicle Lateral Motion by Direct Yaw Moment.JSAE Review, 2001,22:413~419
45 Tohru Yoshioka,et al.Application of Sliding-Mode Theory to Direct Yaw-Moment Control.JSAE Review, 1999,20:523~529
46 Masao Nagai,Motoki Shina,Feng Gao.Study on Integrated Control of Active Front Steering Angle and Direct Yaw Moment.JSAE Review, 2002,23: 309~315
47 Youssef A.Ghoneim,William C.Lin,David M.Sidlosky, et al. Integrated chassis control system to enhance vehicle stability.Int.J.Vehicle Design, 2000, 23(2)
48 Aleksander Hac,Mark O.Bodie.Improvementsin Vehicle Handling Through Integrated Control of Chassis System.Int.J. of Vehicle Design, 2002,29(6)
49张成宝,吴光强.汽车驱动防滑的控制方法研究.汽车工程. 2000,22(5)
50 Mastao Abe et al Side-slip control to stabilize vehicle lateral motion by direct yaw moment. JSAE Review, 2001(22)
51 Furukawa Y.Advanced Chassis Control Systems for Vehicle Handling and Active safety. Veh.Syst Dymamics. 1997,28(2,3)
52秦绪柏.控制器参数对四轮转向和汽车稳定性控制的影响.机械制造与自动化. 2006,35(4):25~27
53冯金芝,喻凡,李君.基于混合仿真技术的车辆横向稳定性控制系统.汽车工程. 2004,26(2):187~192