四轮转向汽车联合仿真控制研究
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摘要
四轮转向技术做为当代汽车发展的一个重要方向,通过对汽车的前轮转向和后轮转向同时控制来改善汽车的转向特性,四轮转向车辆的操纵稳定性得到了很大的提高。本文以四轮转向车俩的模型建立和控制策略为研究对象,讨论了四轮转向技术在操纵稳定性方面的特性。
本论文的主要研究内容如下：
因为轮胎的非线性对车辆的操纵稳定性有很大影响,由于在Simul ink中轮胎模型建模非常困难,所以本文通过利用多体动力学仿真软件ADAMS建立基于虚拟样机技术的整车模型,然后在MATLAB/Simulink环境下建立四轮转向神经网络的控制模型,并将虚拟样机模型与神经网络控制模型相结合,利用模糊理论对质心侧偏角进行控制,从而构成研究四轮转向车辆的联合仿真模型。建立的程序如下：
首先,建立四轮转向车辆的控制系统模型,运用神经网络算法训练得到四轮转向车辆后轮控制器,实现车辆转向行驶时按照一定的控制方法对后轮转角大小的控制。
其次,利用模糊控制理论对整车的质心侧偏角进行PID控制,使车辆系统的操纵稳定性得到控制,并且车辆具有较好的适应性。
再次,在ADAMS软件中ADAMS/Vi ew环境下建立整车动力学模型,动力学模型包括汽车的车身、轮胎模型、悬架系统、路面模型及转向执行机构。
之后,输入一定的前轮转向角和一定的车速,利用不同的四轮转向控制方法,对机械系统和控制系统进行联合仿真并比较分析,从而得出质心侧偏角、横摆角速度在不同的控制算法下的效果图,比较得到联合仿真控制策略的有效性和可靠性。
最后,通过参数的变化分析得到整车质量、质心位置对操纵稳定性的影响,得出控制系统有比较好的稳定性和适应性。
综上所述,通过仿真结果可以看出联合仿真比前轮转向、四轮转向比例控制、四轮转向反馈控制、以及横摆角速度控制有较好的操纵稳定性,可以为四轮转向车辆的理论研究提供一些思路。
Four-wheel steering technology as a contemporary automobile development, through an important direction of car front wheel steering wheel steering control and at the same time to improve cars, and the vehicle steering control stability of had been improved. Based on the model with four-wheel steering and control strategies for research object, discussed the four-wheel steering in handling stability superiority.
The main contents this thesis can be summarized as follows: Because of the nonlinear tire of vehicle has a great influence in handling stability, but it is difficult to model in Simulink,, therefore this paper by using dynamics simulation software ADAMS establishes vehicle model based on virtual prototype technology, then establish four-wheel steering model by neural network in MATLAB/Simulink, and unite virtual prototyping model with neural network model, and by using fuzzy theory control the sideslip angle. so the model of four-wheel steering united can be made. Program is as follows;
Firstly, four-wheel steering control system model can be established, and through the neural network training rear controller of four wheel steering vehicle can be got, and then realize vehicle steering according to certain control method to rear steering.
Secondly, by using fuzzy theory control the sideslip angle with PID, and make the handling stability of vehicle system controlled, and vehicle has better adaptability.
Again, establish the vehicle dynamic model in ADAMS/View, which include body, tire model, suspension system, road model and steering。
After that, using different four-wheel steering control method, analysis the mechanical system united with control system under the input of certain front wheel steering angle and certain speed and compare with them, thus draws sideslip angle and yaw velocity, gets the validity and reliability compared with the united simulation control strategy
Finally, through changing the parameters can obtained the influence which vehicle quality and the position of centroid made, the result show control system has a good stability and adaptability.
To sum up, through the simulation results that co-simulation has good control stability than front wheel steering, proportional control four-wheel steering, feedback control four-wheel steering, and yaw velocity control for four-wheel steering vehicles, which can provide theoretical studies of some ideas.
本论文的主要研究内容如下：
因为轮胎的非线性对车辆的操纵稳定性有很大影响,由于在Simul ink中轮胎模型建模非常困难,所以本文通过利用多体动力学仿真软件ADAMS建立基于虚拟样机技术的整车模型,然后在MATLAB/Simulink环境下建立四轮转向神经网络的控制模型,并将虚拟样机模型与神经网络控制模型相结合,利用模糊理论对质心侧偏角进行控制,从而构成研究四轮转向车辆的联合仿真模型。建立的程序如下：
首先,建立四轮转向车辆的控制系统模型,运用神经网络算法训练得到四轮转向车辆后轮控制器,实现车辆转向行驶时按照一定的控制方法对后轮转角大小的控制。
其次,利用模糊控制理论对整车的质心侧偏角进行PID控制,使车辆系统的操纵稳定性得到控制,并且车辆具有较好的适应性。
再次,在ADAMS软件中ADAMS/Vi ew环境下建立整车动力学模型,动力学模型包括汽车的车身、轮胎模型、悬架系统、路面模型及转向执行机构。
之后,输入一定的前轮转向角和一定的车速,利用不同的四轮转向控制方法,对机械系统和控制系统进行联合仿真并比较分析,从而得出质心侧偏角、横摆角速度在不同的控制算法下的效果图,比较得到联合仿真控制策略的有效性和可靠性。
最后,通过参数的变化分析得到整车质量、质心位置对操纵稳定性的影响,得出控制系统有比较好的稳定性和适应性。
综上所述,通过仿真结果可以看出联合仿真比前轮转向、四轮转向比例控制、四轮转向反馈控制、以及横摆角速度控制有较好的操纵稳定性,可以为四轮转向车辆的理论研究提供一些思路。
Four-wheel steering technology as a contemporary automobile development, through an important direction of car front wheel steering wheel steering control and at the same time to improve cars, and the vehicle steering control stability of had been improved. Based on the model with four-wheel steering and control strategies for research object, discussed the four-wheel steering in handling stability superiority.
The main contents this thesis can be summarized as follows: Because of the nonlinear tire of vehicle has a great influence in handling stability, but it is difficult to model in Simulink,, therefore this paper by using dynamics simulation software ADAMS establishes vehicle model based on virtual prototype technology, then establish four-wheel steering model by neural network in MATLAB/Simulink, and unite virtual prototyping model with neural network model, and by using fuzzy theory control the sideslip angle. so the model of four-wheel steering united can be made. Program is as follows;
Firstly, four-wheel steering control system model can be established, and through the neural network training rear controller of four wheel steering vehicle can be got, and then realize vehicle steering according to certain control method to rear steering.
Secondly, by using fuzzy theory control the sideslip angle with PID, and make the handling stability of vehicle system controlled, and vehicle has better adaptability.
Again, establish the vehicle dynamic model in ADAMS/View, which include body, tire model, suspension system, road model and steering。
After that, using different four-wheel steering control method, analysis the mechanical system united with control system under the input of certain front wheel steering angle and certain speed and compare with them, thus draws sideslip angle and yaw velocity, gets the validity and reliability compared with the united simulation control strategy
Finally, through changing the parameters can obtained the influence which vehicle quality and the position of centroid made, the result show control system has a good stability and adaptability.
To sum up, through the simulation results that co-simulation has good control stability than front wheel steering, proportional control four-wheel steering, feedback control four-wheel steering, and yaw velocity control for four-wheel steering vehicles, which can provide theoretical studies of some ideas.
引文
[1]王望予.汽车设计[M].北京：机械工业出版社,2004.174—188
[2]陈家瑞.汽车构造[M].北京：人民交通出版社,2005.221—235
[3]余志生.汽车理论[M].北京：机械工业出版社,2006.202—211
[4]马开献.汽车四轮转向模糊控制仿真研究[D].武汉：华中科技大学,2006
[5]姜宏.基于Matlab/Simulink和神经网络的四轮转向车辆控制研究[D].南京：南京航空航天大学,2007
[6]王辉.四轮转向汽车的控制研究和操纵动力学仿真分析[D].上海：上海交通大学,2007
[7]杨维新.基于神经网络的汽车四轮转向控制系统研究[D].重庆：重庆交通大学,2009
[8]焦凤.四轮转向汽车虚拟样机与闭环控制操纵动力学仿真[D].南京：东南大学,2004
[9]宋正华.汽车稳定性控制虚拟样车及硬件在环仿真研究[D].南京：东南大学,2005
[10]王军伟.基于FPGA的模糊PID控制算法的研究及实现[D].浙江：浙江工业大学,2009
[11]朱晶.基于模糊PID的三容水箱液位控制系统应用研究[D].大连：大连理工大学,2008
[12]王明军.基于模糊PID的箱式电加热炉控制系统[D].大连：大连理工大学,2009
[13]符浩翔.汽车悬架与四轮转向系统的综合控制研究[D].重庆：重庆大学,2005
[14]周丽.四轮转向车辆横向稳定性模糊控制仿真研究[D].长沙,长沙理工大学,2009
[15]沈平.一种模糊PID自整定控制器的研究[D].长沙,中南大学,2009
[16]L. Dai, Q. Han Stability and Hopf bifurcation of a nonlinear model for a four-wheel-steering vehicle system Communications in Nonlinear Science and Numerical Simulation Volume 9, Issue 3, June 2004, Pages 331-341
[17]. Andrzej G. Nalecz and Alan C. Bindermann. Handling Properties of Four Wheel Steering Vehicle. SAE Paper,1989, No.890080
[18]. Sanos F S, Four wheel steering system with rear wheel steer angle controlled asa function of steering wheel angle[J], SAE Paper No.860625,1986:363-365
[19].Masao Nagai, Etsuhiro Ueda, Antonio Moran, Nonlinear design to approach four-wheel system using neural network[J], Vehicle System Dynamics,1995, 24:329-342
[20].Higuchi A and Saitoh Y, Optimal control of four wheel steering vehicle [J], Vehicle System Dynamics,1993,228(1),397-410
[21]. Takigguchi T, Yasuda, Improvement of vehicle dynamics byvehicle-speed-sensing four-wheel steering system[J]. SAE Paper 1986.860624
[22]俞琦.自适应模糊PID在自动下芯机控制系统中的应用研究[D].合肥,合肥工业大学,2008
[23]废学功.电动固定平台搬运车四轮转向机构的设计与研究[D].南京：东南大学,2005
[24]吴根忠.某型前后轮转向特种车辆操纵稳定性研究[D].南京：南京理工大学,2008
[25]章贵华.基于滑模变结构控制的车辆动力学稳定性控制研究[D].合肥,合肥工业大学,2008
[26]王少凯.ABS系统的滑模变结构控制联合仿真研究[D].合肥：合肥工业大学,2008
[27]陈海军.4WS汽车虚拟模型建模与操纵稳定性仿真[D].南京：南京林业大学,2007
[28]林棻 赵又群 姜宏基于Simulink的四轮转向汽车神经网络控制策略仿真江苏：江苏大学学报(自然科学版)2008
[29].徐建锋 4WS 整车虚拟样机机械系统与控制系统耦合仿真研究[D]浙江：浙江工业大学2006
[30].张云清基于ADAMS和MATLAB协同仿真的四轮转向模糊控制策略研究[J]计算机集成制造系统2007
[31]颜四平 黄玲琴 周淑文 杨英 基于ADAMS的四轮转向汽车虚拟样机建模与动力学 仿真汽车科技2007
[32].陈广彦薛继超基于ADAMS软件的汽车四轮转向动力学研究[J]天津工程师范学院学报2007
[33].梁正文张云娟ADAMS与PRO/E的结合在汽车四轮转向模式仿真中的应用[J]交通标准化2007
[34].宋正华 陈南 4WS 汽车虚拟模型的闭环控制动力学仿真[J]机械制造与自动化2005
[35]魏勇刚 樊运平 孟国营 两轮转向与四轮转向的转向性能分析比较[J]煤矿机械2009
[36].徐建锋 宁晓斌 谢伟东 佘翊妮 4WS 整车虚拟样机建模与动力学仿真[J]计算机仿真2006
[37].胡多能王京张瑞秋孙华平四轮转向车辆稳定性的虚拟仿真[J]工程图学学报2007年
[2]陈家瑞.汽车构造[M].北京：人民交通出版社,2005.221—235
[3]余志生.汽车理论[M].北京：机械工业出版社,2006.202—211
[4]马开献.汽车四轮转向模糊控制仿真研究[D].武汉：华中科技大学,2006
[5]姜宏.基于Matlab/Simulink和神经网络的四轮转向车辆控制研究[D].南京：南京航空航天大学,2007
[6]王辉.四轮转向汽车的控制研究和操纵动力学仿真分析[D].上海：上海交通大学,2007
[7]杨维新.基于神经网络的汽车四轮转向控制系统研究[D].重庆：重庆交通大学,2009
[8]焦凤.四轮转向汽车虚拟样机与闭环控制操纵动力学仿真[D].南京：东南大学,2004
[9]宋正华.汽车稳定性控制虚拟样车及硬件在环仿真研究[D].南京：东南大学,2005
[10]王军伟.基于FPGA的模糊PID控制算法的研究及实现[D].浙江：浙江工业大学,2009
[11]朱晶.基于模糊PID的三容水箱液位控制系统应用研究[D].大连：大连理工大学,2008
[12]王明军.基于模糊PID的箱式电加热炉控制系统[D].大连：大连理工大学,2009
[13]符浩翔.汽车悬架与四轮转向系统的综合控制研究[D].重庆：重庆大学,2005
[14]周丽.四轮转向车辆横向稳定性模糊控制仿真研究[D].长沙,长沙理工大学,2009
[15]沈平.一种模糊PID自整定控制器的研究[D].长沙,中南大学,2009
[16]L. Dai, Q. Han Stability and Hopf bifurcation of a nonlinear model for a four-wheel-steering vehicle system Communications in Nonlinear Science and Numerical Simulation Volume 9, Issue 3, June 2004, Pages 331-341
[17]. Andrzej G. Nalecz and Alan C. Bindermann. Handling Properties of Four Wheel Steering Vehicle. SAE Paper,1989, No.890080
[18]. Sanos F S, Four wheel steering system with rear wheel steer angle controlled asa function of steering wheel angle[J], SAE Paper No.860625,1986:363-365
[19].Masao Nagai, Etsuhiro Ueda, Antonio Moran, Nonlinear design to approach four-wheel system using neural network[J], Vehicle System Dynamics,1995, 24:329-342
[20].Higuchi A and Saitoh Y, Optimal control of four wheel steering vehicle [J], Vehicle System Dynamics,1993,228(1),397-410
[21]. Takigguchi T, Yasuda, Improvement of vehicle dynamics byvehicle-speed-sensing four-wheel steering system[J]. SAE Paper 1986.860624
[22]俞琦.自适应模糊PID在自动下芯机控制系统中的应用研究[D].合肥,合肥工业大学,2008
[23]废学功.电动固定平台搬运车四轮转向机构的设计与研究[D].南京：东南大学,2005
[24]吴根忠.某型前后轮转向特种车辆操纵稳定性研究[D].南京：南京理工大学,2008
[25]章贵华.基于滑模变结构控制的车辆动力学稳定性控制研究[D].合肥,合肥工业大学,2008
[26]王少凯.ABS系统的滑模变结构控制联合仿真研究[D].合肥：合肥工业大学,2008
[27]陈海军.4WS汽车虚拟模型建模与操纵稳定性仿真[D].南京：南京林业大学,2007
[28]林棻 赵又群 姜宏基于Simulink的四轮转向汽车神经网络控制策略仿真江苏：江苏大学学报(自然科学版)2008
[29].徐建锋 4WS 整车虚拟样机机械系统与控制系统耦合仿真研究[D]浙江：浙江工业大学2006
[30].张云清基于ADAMS和MATLAB协同仿真的四轮转向模糊控制策略研究[J]计算机集成制造系统2007
[31]颜四平 黄玲琴 周淑文 杨英 基于ADAMS的四轮转向汽车虚拟样机建模与动力学 仿真汽车科技2007
[32].陈广彦薛继超基于ADAMS软件的汽车四轮转向动力学研究[J]天津工程师范学院学报2007
[33].梁正文张云娟ADAMS与PRO/E的结合在汽车四轮转向模式仿真中的应用[J]交通标准化2007
[34].宋正华 陈南 4WS 汽车虚拟模型的闭环控制动力学仿真[J]机械制造与自动化2005
[35]魏勇刚 樊运平 孟国营 两轮转向与四轮转向的转向性能分析比较[J]煤矿机械2009
[36].徐建锋 宁晓斌 谢伟东 佘翊妮 4WS 整车虚拟样机建模与动力学仿真[J]计算机仿真2006
[37].胡多能王京张瑞秋孙华平四轮转向车辆稳定性的虚拟仿真[J]工程图学学报2007年