基于滑模变结构控制的车辆动力学稳定性控制研究
|
摘要
车辆动力学控制系统是目前较为先进的车辆控制系统,是基于ABS和TCS技术发展的一次重大突破。在紧急情况下它能速度反馈的滑模直接横摆力矩控制器,它通过横摆角速度实际值与期望值的够自动对车辆进行干预,防止车辆侧滑打转现象的发生,及时帮助驾驶员控制车辆,避免车祸的发生。它最基本的目的是在控制车辆的横摆角速度的同时把车辆的侧偏角也限制在一定的范围,提高车辆的稳定性。
本文设计了带有车辆侧偏角和横摆角偏差来计算作用于车辆系统上的附加横摆力矩,附加横摆力矩可以通过左右车轮制动力矩的分配来实现。并综合考虑主动制动车轮的滑移率对车辆稳定性的影响,建立了综合有ABS的车辆动力学控制系统,以期提高车辆在危险工况下的稳定性和可控性。该控制思路的有效性是基于ADAMS/Car和MATLAB/Simulink的联合仿真平台上进行验证的,在ADAMS/Car中建立车辆模型,在MATLAB/Simuink中建立控制器,使用专用接口连接两个软件。使用阶跃转向和单移线两个典型工况下进行联合仿真,最终验证该控制策略的正确性,为实际设计车辆动力学稳定性控制系统提供了理论基础。
最后,在LabVIEW开发平台基础上进行了车辆稳定性控制硬件在环试验的初步研究,为将来更成熟的试验手段提供一个参考。
Vehicle dynamic control system is an advanced system at the present time, and it is a great leap based on the development of ABS/TCS technology. At the urgent state, vehicle yaw moment control can handle vehicle's motion, preventing vehicle from sideslip and spin and also help the drivers manipulate vehicle avoiding traffic accident. Its fundamental aim is not only to control vehicle yaw rate but also limit vehicle slip angle in a certain rang, and improve the stability of vehicle.
This study designs a slide mode direct yaw moment control with the feedback of the vehicle slip-angle and yaw rate. It uses the differential between actual value and desired value of yaw rate to calculate additional yaw moment acting on vehicle system. To realize the additional yaw moment, we can distribute the moment of left/right wheel. This paper also considers the affection of the wheel slip-ration to the vehicle's yaw motion, which is combined with ABS/ to structure a vehicle dynamic integration control system. The vehicle stability and maneuverability in critical situation are hope to be enhanced. The validity of this control idea is verified on co-simulation platform of ADAMS/Car and MATLAB/Simulink, constructs the model of vehicle in ADAMS/Car and the controller in MATLAB/Simulink, combines them with special interface. Simulations on two representative conditions (step steer and single lane change), proves the validity of this strategy and provides a foundation of theory to design of vehicle dynamics stability control.
At last, primary research of the vehicle stability control HILS is carried on based on LabVIEW platform, offers a little reference to maturate experimentation in the future.
本文设计了带有车辆侧偏角和横摆角偏差来计算作用于车辆系统上的附加横摆力矩,附加横摆力矩可以通过左右车轮制动力矩的分配来实现。并综合考虑主动制动车轮的滑移率对车辆稳定性的影响,建立了综合有ABS的车辆动力学控制系统,以期提高车辆在危险工况下的稳定性和可控性。该控制思路的有效性是基于ADAMS/Car和MATLAB/Simulink的联合仿真平台上进行验证的,在ADAMS/Car中建立车辆模型,在MATLAB/Simuink中建立控制器,使用专用接口连接两个软件。使用阶跃转向和单移线两个典型工况下进行联合仿真,最终验证该控制策略的正确性,为实际设计车辆动力学稳定性控制系统提供了理论基础。
最后,在LabVIEW开发平台基础上进行了车辆稳定性控制硬件在环试验的初步研究,为将来更成熟的试验手段提供一个参考。
Vehicle dynamic control system is an advanced system at the present time, and it is a great leap based on the development of ABS/TCS technology. At the urgent state, vehicle yaw moment control can handle vehicle's motion, preventing vehicle from sideslip and spin and also help the drivers manipulate vehicle avoiding traffic accident. Its fundamental aim is not only to control vehicle yaw rate but also limit vehicle slip angle in a certain rang, and improve the stability of vehicle.
This study designs a slide mode direct yaw moment control with the feedback of the vehicle slip-angle and yaw rate. It uses the differential between actual value and desired value of yaw rate to calculate additional yaw moment acting on vehicle system. To realize the additional yaw moment, we can distribute the moment of left/right wheel. This paper also considers the affection of the wheel slip-ration to the vehicle's yaw motion, which is combined with ABS/ to structure a vehicle dynamic integration control system. The vehicle stability and maneuverability in critical situation are hope to be enhanced. The validity of this control idea is verified on co-simulation platform of ADAMS/Car and MATLAB/Simulink, constructs the model of vehicle in ADAMS/Car and the controller in MATLAB/Simulink, combines them with special interface. Simulations on two representative conditions (step steer and single lane change), proves the validity of this strategy and provides a foundation of theory to design of vehicle dynamics stability control.
At last, primary research of the vehicle stability control HILS is carried on based on LabVIEW platform, offers a little reference to maturate experimentation in the future.
引文
[1]牛家忠,朱杏鹃.汽车主动安全性与被动安全性的发展.重型汽车,1997(6):29-31
[2]Glaser,H.,"Electronic Stability Program ESP,Audi Press Presentation",Lycksele,Sweden,9.-13.December,1996
[3]李朝录译.ABS株式会社编,汽车制动防抱死装置(ABS)构造与原理.北京:机械工业出版社,1995
[4]司利增.现代防滑控制系统.北京:人民交通出版社,1997
[5]Anton T.van Zanten,Rainer Erhardt,Georg Pfaff.VDC,The Vehicle Dynamics Control Systemof Bosch.SAE paper NO.950759
[6]Y.Shibahata,K.Shimada and T.Tomari.Improvement of Vehicle Maneuverability by DirectYaw Moment Control.Vehicle System Dynamics,1999(22):465-481
[7]Yoshiyuki Yasui,Kenji Tozu,Noriaki Hattori,and Masakazu Sugisawa.Improvement of Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control.SAE paper No.960485
[8]Ken Koibuchi,Masaki Yamamoto,Yoshiki Fukada,and Shoji Inagaki.Vehicle StabilityControl in Limit Cornering by active Brake.SAE paper NO.960487
[9]丁海涛.轮胎附着极限下汽车稳定性控制的仿真研究[博士学位论文].吉林大学,2003
[10]程军.车辆动力学控制的模拟.汽车工程,1999,21(4):199-205,256
[11]王德平,郭孔辉,宗长富.车辆动力学稳定控制的理论研究.汽车工程,2000,22(1):7-9
[12]王德平,郭孔辉.车辆动力学稳定控制的控制原理.机械工程学报,2000,36(3):97-99
[13]MANDO Brake Control System manual,2004
[14]Anton T.Zanten,Rainer Erhardt,Klaus Landesfeind and Georg Pfaff.VDC SystemDevelopment and perspective.SAE paper NO.980235
[15]M.Lutz,J.Marek,B.Maihofer,D.Schubert,W.Golderer,.Gerstenmeier.A Precision Yaw rateSensor in Silicon Micro-machining.SAE paper No.980267
[16]Tsukasa Matsuura,Kazuhiko Tsutsumi,Motobisa Taguchi,Masaaki Taruya,TakafumiHara Yutaka Ohoshi.Silicon Resonant Angular Rate Sensor for Vehicle Stability Control.
[17]郭孔辉.汽车操纵动力学.长春:吉林科学出版社,1991
[18]余志生.汽车理论(第3版),北京:机械工业出版社,2000.
[19]庄继德著.汽车电子控制系统工程.北京:北京理工大学出版社,1998.
[20]喻凡,林逸.汽车系统动力学.北京:机械工业出版社,2005.7.
[21]张成宝,徐信明汽车动力学控制系统的初步研究汽车研究与开发,2001(2):40-43
[22]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104
[23]张代胜,李伟.基于滑移率的汽车防抱模糊控制方法与仿真.农业机械学报,2002,33(2):28-31.
[24]Van Zanten,A.T.et al.Control Aspects of the BOSCH-VDC.Proceedings of AVEC'96,1996:573-608
[25]章贵华,王其东.联合仿真技术在车辆动力学稳定性控制上的应用.客车技术,2007,6:13-18
[26]周志立.徐斌.卫尧.汽车ABS原理与结构.机械工业出版社.2005
[27]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,北京:清华大学出版社,2002
[28]郑建荣.ADAMS虚拟样机技术入门与提高.机械工业出版社,2002
[29]范成健,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.机.械工业出版社,2006
[30]高为炳.变结构控制理论基础,中国科学技术出版社,1990
[31]王丰尧.滑模变结构控制,北京:机械工业出版社,1995
[32]姚琼荟.变结构控制系统.重庆大学出版社,1997.1
[33]胡跃明.变结构控制理论与应用.北京:科学出版社,2003.1
[34]Gim G and Nikravesh P E.An analytical study of pneumatic types for vehicle dynamic simulation.Part 2:Comprehensive slips.International Journal of Vehicle Design,1995;12(1):19-39
[35]Guo K.A study of a phase plane representation for identifying vehicle behavior.Prec of 9~(th)IVDSD Symposium,Linkoping,1985
[36]Jahan Asgari.Computer simulation of driver/vehicle system.Ford motor Company Research Report,SR-92-17
[37]李健,王国忠等.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
[38]刘金琨,滑模变结构控制MATLAB仿真[M].清华大学出版社,2005
[39]赵治国.车辆动力学及其非线性控制理论技术的研究:[学位论文]西北工业大学,2002
[40]刘侃.车辆动力学综合控制的性能仿真研究:[学位论文]华中科技大学,2003
[41]ADAMS Training,MDI公司,2001
[42]张志涌.精通MATLAB6.5.北京航空航天大学出版社.2003.3
[43]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,北京:清华大学出版社,2002
[44]时培成.基于虚拟样机的汽车整车操纵稳定性研究:[学位论文]合肥工业大学.2005
[45]沈辉.精通SIMULINK系统仿真与控制.北京大学出版社.2003.1
[46]郑建荣.ADAMS虚拟样机技术入门与提高.机械工业出版社,2002
[47]贾杨成.虚拟样机技术在汽车制动仿真方面的应用研究[学位论文].合肥工业大学,2005
[48]National Instruments Corporation.SCB-68 68-Pin Shield Connector Block User Manual.Dec 2002Edition Part.Number 320745B-01.
[49]戴鹏飞,王胜开,王格芳等.测试工程与LabVIEW应用.北京:电子工业出版社,2006.5.
[50]Robert H.Bishop著.LabVIEW实用教程.北京:电子工业出版社,2005.
[51]National Instruments Corporation.NI PXI-8195/8196 User Manual.March 2005 Edition Part.Number 371445A-01.
[52]National Instruments Corporation.SCB-68 68-Pin Shield Connector Block User Manual.Dee 2002Edition Part.Number 320745B-01.
[53]Motorola Semiconductor Technical Data.Automotive Dual High Side Switch.Order Number:MC33289/D,Rev.2.3,06/2001.
[54]杨乐平,李海涛等.LabVIEW程序设计与应用(第二版).北京:电子工业出版社,2005.
[55]孙薇,汪志中.MC33289型驱动器在汽车制动系统中的应用.国外电子元器件,2005.11.
[56]Inertial systems.Crossbow technology.Document Part Number:6020-0022-01.
[2]Glaser,H.,"Electronic Stability Program ESP,Audi Press Presentation",Lycksele,Sweden,9.-13.December,1996
[3]李朝录译.ABS株式会社编,汽车制动防抱死装置(ABS)构造与原理.北京:机械工业出版社,1995
[4]司利增.现代防滑控制系统.北京:人民交通出版社,1997
[5]Anton T.van Zanten,Rainer Erhardt,Georg Pfaff.VDC,The Vehicle Dynamics Control Systemof Bosch.SAE paper NO.950759
[6]Y.Shibahata,K.Shimada and T.Tomari.Improvement of Vehicle Maneuverability by DirectYaw Moment Control.Vehicle System Dynamics,1999(22):465-481
[7]Yoshiyuki Yasui,Kenji Tozu,Noriaki Hattori,and Masakazu Sugisawa.Improvement of Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control.SAE paper No.960485
[8]Ken Koibuchi,Masaki Yamamoto,Yoshiki Fukada,and Shoji Inagaki.Vehicle StabilityControl in Limit Cornering by active Brake.SAE paper NO.960487
[9]丁海涛.轮胎附着极限下汽车稳定性控制的仿真研究[博士学位论文].吉林大学,2003
[10]程军.车辆动力学控制的模拟.汽车工程,1999,21(4):199-205,256
[11]王德平,郭孔辉,宗长富.车辆动力学稳定控制的理论研究.汽车工程,2000,22(1):7-9
[12]王德平,郭孔辉.车辆动力学稳定控制的控制原理.机械工程学报,2000,36(3):97-99
[13]MANDO Brake Control System manual,2004
[14]Anton T.Zanten,Rainer Erhardt,Klaus Landesfeind and Georg Pfaff.VDC SystemDevelopment and perspective.SAE paper NO.980235
[15]M.Lutz,J.Marek,B.Maihofer,D.Schubert,W.Golderer,.Gerstenmeier.A Precision Yaw rateSensor in Silicon Micro-machining.SAE paper No.980267
[16]Tsukasa Matsuura,Kazuhiko Tsutsumi,Motobisa Taguchi,Masaaki Taruya,TakafumiHara Yutaka Ohoshi.Silicon Resonant Angular Rate Sensor for Vehicle Stability Control.
[17]郭孔辉.汽车操纵动力学.长春:吉林科学出版社,1991
[18]余志生.汽车理论(第3版),北京:机械工业出版社,2000.
[19]庄继德著.汽车电子控制系统工程.北京:北京理工大学出版社,1998.
[20]喻凡,林逸.汽车系统动力学.北京:机械工业出版社,2005.7.
[21]张成宝,徐信明汽车动力学控制系统的初步研究汽车研究与开发,2001(2):40-43
[22]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104
[23]张代胜,李伟.基于滑移率的汽车防抱模糊控制方法与仿真.农业机械学报,2002,33(2):28-31.
[24]Van Zanten,A.T.et al.Control Aspects of the BOSCH-VDC.Proceedings of AVEC'96,1996:573-608
[25]章贵华,王其东.联合仿真技术在车辆动力学稳定性控制上的应用.客车技术,2007,6:13-18
[26]周志立.徐斌.卫尧.汽车ABS原理与结构.机械工业出版社.2005
[27]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,北京:清华大学出版社,2002
[28]郑建荣.ADAMS虚拟样机技术入门与提高.机械工业出版社,2002
[29]范成健,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.机.械工业出版社,2006
[30]高为炳.变结构控制理论基础,中国科学技术出版社,1990
[31]王丰尧.滑模变结构控制,北京:机械工业出版社,1995
[32]姚琼荟.变结构控制系统.重庆大学出版社,1997.1
[33]胡跃明.变结构控制理论与应用.北京:科学出版社,2003.1
[34]Gim G and Nikravesh P E.An analytical study of pneumatic types for vehicle dynamic simulation.Part 2:Comprehensive slips.International Journal of Vehicle Design,1995;12(1):19-39
[35]Guo K.A study of a phase plane representation for identifying vehicle behavior.Prec of 9~(th)IVDSD Symposium,Linkoping,1985
[36]Jahan Asgari.Computer simulation of driver/vehicle system.Ford motor Company Research Report,SR-92-17
[37]李健,王国忠等.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
[38]刘金琨,滑模变结构控制MATLAB仿真[M].清华大学出版社,2005
[39]赵治国.车辆动力学及其非线性控制理论技术的研究:[学位论文]西北工业大学,2002
[40]刘侃.车辆动力学综合控制的性能仿真研究:[学位论文]华中科技大学,2003
[41]ADAMS Training,MDI公司,2001
[42]张志涌.精通MATLAB6.5.北京航空航天大学出版社.2003.3
[43]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,北京:清华大学出版社,2002
[44]时培成.基于虚拟样机的汽车整车操纵稳定性研究:[学位论文]合肥工业大学.2005
[45]沈辉.精通SIMULINK系统仿真与控制.北京大学出版社.2003.1
[46]郑建荣.ADAMS虚拟样机技术入门与提高.机械工业出版社,2002
[47]贾杨成.虚拟样机技术在汽车制动仿真方面的应用研究[学位论文].合肥工业大学,2005
[48]National Instruments Corporation.SCB-68 68-Pin Shield Connector Block User Manual.Dec 2002Edition Part.Number 320745B-01.
[49]戴鹏飞,王胜开,王格芳等.测试工程与LabVIEW应用.北京:电子工业出版社,2006.5.
[50]Robert H.Bishop著.LabVIEW实用教程.北京:电子工业出版社,2005.
[51]National Instruments Corporation.NI PXI-8195/8196 User Manual.March 2005 Edition Part.Number 371445A-01.
[52]National Instruments Corporation.SCB-68 68-Pin Shield Connector Block User Manual.Dee 2002Edition Part.Number 320745B-01.
[53]Motorola Semiconductor Technical Data.Automotive Dual High Side Switch.Order Number:MC33289/D,Rev.2.3,06/2001.
[54]杨乐平,李海涛等.LabVIEW程序设计与应用(第二版).北京:电子工业出版社,2005.
[55]孙薇,汪志中.MC33289型驱动器在汽车制动系统中的应用.国外电子元器件,2005.11.
[56]Inertial systems.Crossbow technology.Document Part Number:6020-0022-01.