客车行驶稳定性控制的关键技术研究
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摘要
汽车操纵稳定性和侧倾稳定性是车辆行驶稳定性的主要指标,属于车辆主动安全控制的范畴；客车因其重心高、质量大和特别用途,其行驶稳定性控制问题显得尤为重要。目前,在客车行驶稳定性控制系统的开发中,设计者多单独针对操纵稳定性或侧倾稳定性,未从整体出发,考虑所涉及执行机构之间的动力学耦合关系,实现两者的集成控制。论文针对客车行驶中操纵稳定性或侧倾稳定性,研究行驶稳定性控制的关键技术,探讨客车防侧滑和防侧翻控制的新方法,以及两者协调集成控制问题。论文的主要研究工作如下：
(1)针对客车行驶稳定性控制问题,建立客车底盘4自由度动力学模型,以及轮胎、悬架和制动器等各执行机构的动力学模型。
(2)以客车防侧滑为目的,利用差动制动特性,建立客车防侧滑差动制动控制的数学模型；采用滑模控制方法,设计防侧滑差动制动控制器来实现客车的操纵稳定性,将其分为上位控制器和下位控制器：上位控制器根据控制指标输出期望横摆力矩,下位控制器根据期望横摆力矩输出各轮胎的制动压力。
(3)以客车防侧翻为目的,利用半主动悬架特性,构建客车防侧翻半主动悬架控制的控制策略和数学模型,以及侧翻的预测模型；采用滑模控制方法,设计客车防侧翻半主动悬架控制器来实现客车的侧倾稳定性,同样将其分为上位控制器和下位控制器：上位控制器根据侧翻预测模型输出期望侧倾力矩,下位控制器根据期望侧倾力矩输出各半主动悬架减振器的驱动电流。
(4)以客车的行驶稳定性为目的,分析差动制动与半主动悬架的动力学耦合关系,利用分层式集成控制结构,将控制系统划分为协调层与执行层,设计协调层的协调控制器,优化各执行层控制器的输出效果。
(5)采用总线式的网络拓扑结构,设计客车行驶稳定性控制的通信网络。
论文以某客车为对象,采用MATLAB/Simulink,建立客车行驶稳定性控制系统的仿真试验平台；以客车驾驶的规范工况,分析上述三种不同控制方式的控制效果；结果显示,集成控制方式更能有效提高控制输出效果。论文的研究结果可作为客车行驶稳定性控制系统开发的理论依据和技术基础,通过进一步实验研究,可有效提高客车行驶的主动安全性。
The main indicators of vehicle running stability consist of handling stability and roll stability which belong to the content of vehicle active safety. Due to some characteristics such as high center of gravity, large weight and special function of buses, the running stability control of buses is especially important. At present, during the development of these kinds of running stability control systems of buses, the handling stability or the roll stability is focused independently by most designers, while the dynamics coupling among correlative actuators is not considered integrally. As a result, it is hard to accomplish the integrated control of these two stabilities. The research of this paper focuses on key technologies of the running stability control for the handling stability or roll stability, new methods for slip prevention and rollover prevention control of buses, as well as the coordinated integrated control problems related to these two stabilities. The main contents of this study are as follows:
(1) Four degrees of freedom of chassis dynamics model, some actuators dynamics model related to tire model, suspension, brake, etc. are established for running stability control problems of buses.
(2) Aiming at the slip prevention, the mathematical model of Differential braking Yaw-moment Control (DYC) for buses is established by applying the performance of differential braking; using sliding mode control, DYC for buses is designed to guarantee handling stability. DYC is divided into the higher-level controller and the lower-level controller:the higher-level controller generates the desired yaw moment in terms of control indicators, while the lower-level controller outputs the braking pressure for each tire corresponding to the desired yaw moment.
(3) Aiming at the rollover prevention, the control strategy, mathematical model and rollover prediction model for Counter-rollover Damping Control (CDC) for buses are established by applying the performance of semi-active suspension; using sliding mode control, CDC for buses is designed to guarantee roll stability. CDC is also divided into the high-level controller and the lower-level controller:the high-level controller generates the desired roll moment, while the lower-level controller outputs the driving current for each damper corresponding to the desired roll moment.
(4) Aiming at the running stability for buses, the dynamics coupling of differential braking and semi-active suspension are analyzed, and the running stability control system is divided into the coordination layer and the regulation layer using hierarchical integrated control structure. The coordination controller (Coordinator) is designed to optimize the performance of regulation controllers.
(5) The communication network of running stability control of buses is designed by applying bus-type topological structure.
Targeting a type of bus, the simulating test platform for running stability control system of buses is established with MATLAB/Simulink; the performances of upper three different control modes are analyzed through standard maneuvers of bus driving. According to the result, the integrated control mode is more effective to improve the control performance. Research achievements in this paper could be used as the theoretical foundation and technological basis for developing running stability control system of buses, while the active safety for buses could also be enhanced by means of further test research.
(1)针对客车行驶稳定性控制问题,建立客车底盘4自由度动力学模型,以及轮胎、悬架和制动器等各执行机构的动力学模型。
(2)以客车防侧滑为目的,利用差动制动特性,建立客车防侧滑差动制动控制的数学模型；采用滑模控制方法,设计防侧滑差动制动控制器来实现客车的操纵稳定性,将其分为上位控制器和下位控制器：上位控制器根据控制指标输出期望横摆力矩,下位控制器根据期望横摆力矩输出各轮胎的制动压力。
(3)以客车防侧翻为目的,利用半主动悬架特性,构建客车防侧翻半主动悬架控制的控制策略和数学模型,以及侧翻的预测模型；采用滑模控制方法,设计客车防侧翻半主动悬架控制器来实现客车的侧倾稳定性,同样将其分为上位控制器和下位控制器：上位控制器根据侧翻预测模型输出期望侧倾力矩,下位控制器根据期望侧倾力矩输出各半主动悬架减振器的驱动电流。
(4)以客车的行驶稳定性为目的,分析差动制动与半主动悬架的动力学耦合关系,利用分层式集成控制结构,将控制系统划分为协调层与执行层,设计协调层的协调控制器,优化各执行层控制器的输出效果。
(5)采用总线式的网络拓扑结构,设计客车行驶稳定性控制的通信网络。
论文以某客车为对象,采用MATLAB/Simulink,建立客车行驶稳定性控制系统的仿真试验平台；以客车驾驶的规范工况,分析上述三种不同控制方式的控制效果；结果显示,集成控制方式更能有效提高控制输出效果。论文的研究结果可作为客车行驶稳定性控制系统开发的理论依据和技术基础,通过进一步实验研究,可有效提高客车行驶的主动安全性。
The main indicators of vehicle running stability consist of handling stability and roll stability which belong to the content of vehicle active safety. Due to some characteristics such as high center of gravity, large weight and special function of buses, the running stability control of buses is especially important. At present, during the development of these kinds of running stability control systems of buses, the handling stability or the roll stability is focused independently by most designers, while the dynamics coupling among correlative actuators is not considered integrally. As a result, it is hard to accomplish the integrated control of these two stabilities. The research of this paper focuses on key technologies of the running stability control for the handling stability or roll stability, new methods for slip prevention and rollover prevention control of buses, as well as the coordinated integrated control problems related to these two stabilities. The main contents of this study are as follows:
(1) Four degrees of freedom of chassis dynamics model, some actuators dynamics model related to tire model, suspension, brake, etc. are established for running stability control problems of buses.
(2) Aiming at the slip prevention, the mathematical model of Differential braking Yaw-moment Control (DYC) for buses is established by applying the performance of differential braking; using sliding mode control, DYC for buses is designed to guarantee handling stability. DYC is divided into the higher-level controller and the lower-level controller:the higher-level controller generates the desired yaw moment in terms of control indicators, while the lower-level controller outputs the braking pressure for each tire corresponding to the desired yaw moment.
(3) Aiming at the rollover prevention, the control strategy, mathematical model and rollover prediction model for Counter-rollover Damping Control (CDC) for buses are established by applying the performance of semi-active suspension; using sliding mode control, CDC for buses is designed to guarantee roll stability. CDC is also divided into the high-level controller and the lower-level controller:the high-level controller generates the desired roll moment, while the lower-level controller outputs the driving current for each damper corresponding to the desired roll moment.
(4) Aiming at the running stability for buses, the dynamics coupling of differential braking and semi-active suspension are analyzed, and the running stability control system is divided into the coordination layer and the regulation layer using hierarchical integrated control structure. The coordination controller (Coordinator) is designed to optimize the performance of regulation controllers.
(5) The communication network of running stability control of buses is designed by applying bus-type topological structure.
Targeting a type of bus, the simulating test platform for running stability control system of buses is established with MATLAB/Simulink; the performances of upper three different control modes are analyzed through standard maneuvers of bus driving. According to the result, the integrated control mode is more effective to improve the control performance. Research achievements in this paper could be used as the theoretical foundation and technological basis for developing running stability control system of buses, while the active safety for buses could also be enhanced by means of further test research.
引文
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