基于模糊控制的三轴车辆全轮转向性能仿真

为了提高三轴车辆在极限工况下的稳定性,充分考虑轮胎的非线性特点以及车辆转向过程中轮胎垂直载荷的转移情况,建立了三轴车辆全轮转向的非线性二自由度整车动力学模型,以车辆的质心侧偏角为零为控制目标,基于模糊控制理论,采用前馈加状态反馈的控制方法设计了零质心侧偏角比例前馈加质心侧偏角反馈的全轮转向模糊控制系统,最后利用MATLAB/Simulink建立了该控制系统的仿真模型,对控制系统在车辆极限转向工况下的控制性能进行了仿真验证。结果表明,全轮转向模糊控制方法可使三轴车辆的质心侧偏角基本为0,横摆角速度和侧向加速度均能很快达到稳态值,因而可有效防止车辆在极限转向工况下发生侧滑失稳,可显著提高车辆的主动...

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Bibliographic Details
Published in农业工程学报 Vol. 28; no. 13; pp. 34 - 41
Main Author 李华师 韩宝玲 罗庆生 王树凤
Format Journal Article
LanguageChinese
Published 北京理工大学机械与车辆学院,北京,100081%北京理工大学机电学院,北京,100081%山东理工大学交通与车辆工程学院,淄博,255049 2012
Subjects
仿真分析
模糊控制
车辆
转向
非线性模型
仿真分析
车辆
转向
非线性模型
模糊控制
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ISSN1002-6819
DOI10.3969/j.issn.1002-6819.2012.13.006

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Summary:为了提高三轴车辆在极限工况下的稳定性,充分考虑轮胎的非线性特点以及车辆转向过程中轮胎垂直载荷的转移情况,建立了三轴车辆全轮转向的非线性二自由度整车动力学模型,以车辆的质心侧偏角为零为控制目标,基于模糊控制理论,采用前馈加状态反馈的控制方法设计了零质心侧偏角比例前馈加质心侧偏角反馈的全轮转向模糊控制系统,最后利用MATLAB/Simulink建立了该控制系统的仿真模型,对控制系统在车辆极限转向工况下的控制性能进行了仿真验证。结果表明,全轮转向模糊控制方法可使三轴车辆的质心侧偏角基本为0,横摆角速度和侧向加速度均能很快达到稳态值,因而可有效防止车辆在极限转向工况下发生侧滑失稳,可显著提高车辆的主动安全性。
Bibliography:Li Huashi,Han Baoling,Luo Qingsheng,Wang Shufeng（1.School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;2.School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;3.School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China）
11-2047/S
In order to enhance the stability of three-axle vehicle in limited driving conditions,a nonlinear 2 DOF model of three-axle vehicle with all-wheel steering was established by considering the nonlinear characteristics and the vertical load transfer of tires during vehicle steering.Taking zero side-slip angle of mass center as target and using the control method of feed-forward and state feedback,a fuzzy control system of all-wheel steering was designed based on fuzzy control theory.Finally,simulation model of the control system was built by using MATLAB/Simulink software,and the performance of the control system was tested by carrying out various simulations in limited driving
ISSN:1002-6819
DOI:10.3969/j.issn.1002-6819.2012.13.006