本文選題：虛擬軌道有軌電車 + 道路幾何特性�。� 參考：《西南交通大學(xué)》2017年碩士論文

【摘要】：隨著我國經(jīng)濟(jì)的飛速發(fā)展,城市交通方式呈現(xiàn)出多元化的發(fā)展態(tài)勢。在汽車、地鐵等現(xiàn)有城市交通工具的基礎(chǔ)上,考慮能源利用、資源整合以及交通便利性等因素,提出一種新型城市軌道交通方式,即一種基于橡膠車輪和虛擬軌道技術(shù)的有軌電車。此種車輛屬于四輪轂電機(jī)驅(qū)動的智能車輛,其既保有軌道交通大運(yùn)量的特點(diǎn)又兼顧了汽車的機(jī)動靈活性。車輛自主循跡及驅(qū)動控制是虛擬軌道有軌電車的關(guān)鍵技術(shù)之一,為此針對虛擬軌道有軌電車系統(tǒng),主要完成以下幾個(gè)方面的研究內(nèi)容:首先,建立包含側(cè)向和橫擺的線性二自由度車輛操縱模型,研究其動力學(xué)性能及操縱特性規(guī)律,并分析"魔術(shù)公式"輪胎模型在不同工況下的受力狀況,然后建立包含縱向、側(cè)向、橫擺以及車輪旋轉(zhuǎn)的七自由度車輛模型。其次,建立考慮道路幾何特性對車輛循跡效果影響的控制模型,道路幾何特性包括跟蹤路徑的大地坐標(biāo)、道路曲率以及道路寬度,并采用離散數(shù)表的方式表示。根據(jù)公路線路設(shè)計(jì)相關(guān)理論,建立道路曲率和道路寬度對車輛理想縱向速度影響模型。在方向控制方面,建立基于側(cè)向加速度反饋的駕駛員模型。在此基礎(chǔ)上,綜合考慮速度和方向聯(lián)合控制,使用"預(yù)瞄-跟蹤"駕駛員建模理論對任意路徑進(jìn)行循跡。再次,為描述車輛實(shí)際線路下的循跡效果,引入任意路徑循跡誤差計(jì)算方法,將循跡誤差作為衡量線路循跡效果的評價(jià)指標(biāo),該指標(biāo)為統(tǒng)計(jì)意義下的優(yōu)化指標(biāo)。針對大曲率道路工況下車輛循跡偏差較大的現(xiàn)象,為優(yōu)化大曲率路段循跡效果,提出循跡誤差最優(yōu)準(zhǔn)則。根據(jù)循跡優(yōu)化指標(biāo)對車輛理想縱向速度進(jìn)行修正,并在此基礎(chǔ)上建立方向盤轉(zhuǎn)角修正模型,通過循跡誤差最優(yōu)準(zhǔn)則選取不同速度區(qū)間下的修正系數(shù),在大曲率道路工況下對車輛循跡進(jìn)行修正,其適用于優(yōu)化大曲率路段的循跡效果。最后,建立基于路徑跟蹤的全輪力矩分配算法,在線路循跡效果較優(yōu)基礎(chǔ)上,提取車輛路徑跟蹤所需的運(yùn)動學(xué)及動力學(xué)參數(shù),建立車輛輪胎附著系數(shù)最優(yōu)作為優(yōu)化目標(biāo)的力矩分配方法,并推導(dǎo)出各輪胎瞬態(tài)的力值�？紤]驅(qū)動-轉(zhuǎn)彎聯(lián)合工況下的"魔術(shù)公式"輪胎逆模型,根據(jù)輪胎瞬態(tài)的力值反求出輪胎滑轉(zhuǎn)率和輪胎側(cè)偏角,以此求出該瞬態(tài)下四輪轉(zhuǎn)角指令和驅(qū)動力矩指令。綜上所述,對虛擬軌道有軌電車循跡特性和力矩分配算法進(jìn)行研究,為虛擬軌道有軌電車研制提供了理論基礎(chǔ)和技術(shù)支持。
[Abstract]:With the rapid development of China's economy, urban transportation mode presents a diversified development trend. On the basis of existing urban vehicles such as automobiles and subways, and taking into account such factors as energy utilization, resource integration and transport convenience, a new type of urban rail transit is proposed. That is, a tram based on rubber wheels and virtual track technology. This kind of vehicle is an intelligent vehicle driven by four hub motors, which not only retains the characteristics of heavy rail traffic volume, but also takes into account the flexibility of the vehicle. Autonomous tracking and driving control of vehicles is one of the key technologies of virtual tram. For this reason, the following aspects are mainly studied in the virtual track tram system: first of all, A linear two-degree-of-freedom vehicle control model with lateral and transverse pendulum is established to study its dynamic performance and control characteristics, and to analyze the force condition of the "magic formula" tire model under different working conditions, and then to establish a longitudinal and lateral vehicle control model. A 7-DOF vehicle model of yaw and wheel rotation. Secondly, a control model considering the influence of road geometry on vehicle tracking effect is established. The road geometry includes geodetic coordinates, road curvature and road width, which are represented by discrete number table. According to the theory of highway route design, the influence model of road curvature and road width on the ideal longitudinal speed of vehicle is established. In the aspect of direction control, the driver model based on lateral acceleration feedback is established. On this basis, considering the combined control of speed and direction, the "preview-tracking" driver modeling theory is used to track any path. Thirdly, in order to describe the track effect of the actual vehicle, an arbitrary path tracking error calculation method is introduced, and the track error is taken as the evaluation index to evaluate the track tracking effect, which is an optimization index in the statistical sense. In order to optimize the track effect of large curvature road, the optimal criterion of tracking error is put forward in order to optimize the track effect of the large curvature road, aiming at the phenomenon that the vehicle track deviation is large under the working condition of the road with large curvature. According to the track optimization index, the vehicle ideal longitudinal velocity is modified, and the steering wheel angle correction model is established on this basis. The correction coefficient of different speed ranges is selected by the track error optimal criterion. The vehicle track is modified under the condition of large curvature road, which is suitable for optimizing the track effect of large curvature road. Finally, an algorithm of full wheel torque assignment based on path tracking is established, and the kinematics and dynamics parameters of vehicle path tracking are extracted on the basis of better track performance. The torque distribution method of vehicle tire adhesion coefficient as the optimization objective is established, and the transient force values of each tire are derived. Considering the "magic formula" tire inverse model under the combined driving and turning conditions, the tire slip rate and the tire side deflection angle are inversely calculated according to the transient force value of the tire, and the four wheel rotation angle instruction and the driving torque instruction under the transient condition are obtained. To sum up, the tracking characteristics and torque allocation algorithm of virtual track tram are studied, which provides the theoretical basis and technical support for the development of virtual track tram.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U482.1

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 張紅偉;;新能源汽車的發(fā)展現(xiàn)狀及前景分析[J];汽車實(shí)用技術(shù);2016年09期

2 林程;徐志峰;張虹;孫圣雄;;分布式電驅(qū)動汽車驅(qū)動力矩優(yōu)化控制分配[J];北京理工大學(xué)學(xué)報(bào);2016年07期

3 郭景華;李克強(qiáng);羅禹貢;;智能車輛運(yùn)動控制研究綜述[J];汽車安全與節(jié)能學(xué)報(bào);2016年02期

4 陳無畏;談東奎;汪洪波;王家恩;夏光;;一類基于軌跡預(yù)測的駕駛員方向控制模型[J];機(jī)械工程學(xué)報(bào);2016年14期

5 何川;封坤;方勇;;盾構(gòu)法修建地鐵隧道的技術(shù)現(xiàn)狀與展望[J];西南交通大學(xué)學(xué)報(bào);2015年01期

6 李剛;宗長富;;四輪獨(dú)立驅(qū)動輪轂電機(jī)電動汽車研究綜述[J];遼寧工業(yè)大學(xué)學(xué)報(bào)(自然科學(xué)版);2014年01期

7 陳煥明;郭孔輝;;基于航向角和位置偏差控制的駕駛員模型[J];農(nóng)業(yè)機(jī)械學(xué)報(bào);2013年10期

8 徐曉宏;趙萬忠;王春燕;陳偉;;基于NLPQL算法的電動輪汽車差速助力轉(zhuǎn)向參數(shù)優(yōu)化[J];中南大學(xué)學(xué)報(bào)(自然科學(xué)版);2012年09期

9 沈\，

本文編號：1815218