基于模型跟踪最优控制的3轴全轮转向车辆操纵稳定性分析.pdf

学魚兔w.&.L.com
基础研究?
基于模型跟踪最优控制的3轴全轮转向车辆
操纵稳定性分析
袁磊刘西侠杜峰刘维平
(1装甲兵工程学院,北京100072;2.天津职业技术师范大学,天津300222)
【摘要】)针对3轴车操纵稳定性差的问题,在建立车辆理想转向模型的基础上,设计了全轮转向理想模型跟踪最优控
制器,基于人ー车闭环操纵性综合评价方法分析了全轮转向最优控制、零质心侧偏角控制和原双前桥转向车辆的操纵性,并
基于车辆相平面稳定性分析理论分析了全轮转向最优控制和双前桥转向车辆的高速稳定性。结果表明:模型跟腙最优控
制车辆具有更好的路径眼踪能力以及更宽的稳定性区域,能够较为有效地改善3轴车辆的操纵稳定性。
主题词:3轴车辆驾驶员模型操纵稳定性理想模型
中图分类号:U463.4文献标识码:A文章编号:1000-3703(2016)03-0030-06
The Handling Stability Analysis of Three-axle AWS Vehicle Based on
the Optimal Model Tracking Control
Yuan Lei, Liu Xixial, Du Feng, Liu We
(1, Academy of Armored Force Engineering, Beijing 100072; 2. Tianjin University of Technology and Education,
n
fabstract]To improve handling stability of three-axle vehicle, an optimal controller for ideal all-wheel steering
(A WS) model is designed based on the establishment of ideal vehicle steering model. Handling stability of vehicle with
AWS optimal control, zero centroid side-slip angle control and the original double front-axle steering based on the
comprehensive evaluation method of human-vehicle closed-loop handling are analyzed, high-speed stability of AWS
vehicle optimal control and double front-axle steering based on vehicle phase plane stability analysis theory. The results
show that the vehicle with model tracking optimal control has better path tracking ability and wider stability region and
can improve the handling stability of three-axle vehicle effeetively
Key words: Three-axle vehicle, Driver model, Handling stability, Ideal model
特点,存在转向避障能力差和中高速行驶稳定性差的问
1前言
题"。研究表明,全轮转向( All Wheel Steering,AWS)系
多轴车辆具有车身长、质量大、转动惯量大等显著统在改善车辆操纵稳定性方面效果较好。
8申秀敏,左曙光,王勇,等.轿车声品质主观评价研究.噪
据檢验及判据.声学学报,2005(9):46~47
声与振动控制,2013(1):96~101
11毛东兴.车内声品质主观评价与分析方法的研究:学位
9 Stephen Baker, Paul Jennings, Garry Dunne, Roger Wil-
论文]上海:同济大学,2003
liams, Improving the effectiveness of paired comparison
责任编辑文楫)
tests for automotive sound quality. 11international Con
修改稿收到日期为2015年12月1日。
aress and Sound and Vibration. 2004.3029-3036
10毛东兴,俞悟周,王佐民.声品质成对比较主观评价的数
汽.车技术