本文關(guān)鍵詞： 橫擺穩(wěn)定性 側(cè)傾穩(wěn)定性 相平面 切換控制 集成控制　出處：《吉林大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來,日益復(fù)雜的交通環(huán)境導(dǎo)致了交通事故的頻繁發(fā)生,其中車輛的側(cè)翻和側(cè)滑事故已經(jīng)成為人類生命和財(cái)產(chǎn)安全的主要威脅�？紤]二者具有強(qiáng)烈的耦合性,本文以前輪轉(zhuǎn)角和輪胎制動(dòng)力為控制變量,對(duì)車輛的橫擺和側(cè)傾運(yùn)動(dòng)進(jìn)行控制。首先針對(duì)車輛橫擺運(yùn)動(dòng)的穩(wěn)定性能需求,利用李雅普諾夫第二穩(wěn)定性判定方法對(duì)參考的橫擺角速度進(jìn)行了規(guī)劃,確定了不同車速和摩擦系數(shù)下質(zhì)心側(cè)偏角相軌跡穩(wěn)定邊界的三維map。此外為了滿足車輛側(cè)傾運(yùn)動(dòng)的穩(wěn)定性能需求,采用側(cè)向載荷轉(zhuǎn)移率和側(cè)傾預(yù)警時(shí)間作為車輛動(dòng)態(tài)側(cè)翻指標(biāo)。然后在車輛橫擺和側(cè)傾穩(wěn)定性同時(shí)滿足的控制需求下,采用模型預(yù)測控制策略,選取附加前輪轉(zhuǎn)角和四個(gè)輪胎的制動(dòng)力為優(yōu)化變量,通過選擇不同的目標(biāo)函數(shù)和約束條件,設(shè)計(jì)了車輛橫擺與側(cè)傾切換控制系統(tǒng),系統(tǒng)包含了四種控制模式,即單純橫擺控制模式、單純側(cè)傾控制模式、無控制模式以及橫擺和側(cè)傾綜合控制模式。根據(jù)當(dāng)前車輛測量系統(tǒng)反饋回來的狀態(tài)信息和車輛系統(tǒng)的參考狀態(tài),判斷出相應(yīng)的控制模式,優(yōu)化出最優(yōu)的控制變量,并分別將其中的附加前輪轉(zhuǎn)角作用于轉(zhuǎn)向執(zhí)行機(jī)構(gòu),將各輪胎制動(dòng)力通過線性變換轉(zhuǎn)換為相對(duì)應(yīng)的輪缸制動(dòng)壓力作用于制動(dòng)執(zhí)行機(jī)構(gòu)。為了驗(yàn)證所設(shè)計(jì)的切換控制系統(tǒng)的效果,選擇紅旗HQ430車輛動(dòng)力學(xué)模型作為被控對(duì)象,在給定的工況下進(jìn)行了離線仿真實(shí)驗(yàn)。仿真結(jié)果證明,切換控制器雖然能夠保證車輛的橫擺和側(cè)傾穩(wěn)定性,但在極限工況下,車輛系統(tǒng)狀態(tài)會(huì)隨著控制模式的頻繁切換而抖動(dòng),這不僅會(huì)加劇執(zhí)行機(jī)構(gòu)的磨損,也會(huì)會(huì)影響駕乘人員的乘坐舒適性。為了避免由于控制模式的切換而導(dǎo)致系統(tǒng)抖動(dòng)的問題,本文采用模型預(yù)測控制的方法設(shè)計(jì)了一種車輛穩(wěn)定性集成控制系統(tǒng)。在綜合考慮車輛穩(wěn)定性能和安全性能約束的基礎(chǔ)上,將橫擺穩(wěn)定性需求和側(cè)傾穩(wěn)定性需求統(tǒng)一在目標(biāo)函數(shù)中,為了滿足不同工況下車輛對(duì)橫擺穩(wěn)定性和側(cè)傾穩(wěn)定性的要求,選擇模糊控制策略對(duì)目標(biāo)函數(shù)中的權(quán)重系數(shù)進(jìn)行實(shí)時(shí)調(diào)整。通過求解上述非線性優(yōu)化問題,得出最優(yōu)控制變量-附加前輪轉(zhuǎn)角和各輪胎的制動(dòng)力,并作用于車輛系統(tǒng)。通過極限工況實(shí)驗(yàn)、高附著雙移線實(shí)驗(yàn)以及魚鉤實(shí)驗(yàn)等離線仿真驗(yàn)證集成控制器的有效性,并與切換控制器的控制效果進(jìn)行了對(duì)比,仿真結(jié)果表明,在兩種控制系統(tǒng)作用下,車輛均能保證橫擺和側(cè)傾穩(wěn)定性,并且集成控制系統(tǒng)可有效避免控制策略切換帶來的車輛系統(tǒng)振蕩問題,其控制具有一定的平順性。
[Abstract]:In recent years, the increasingly complex traffic environment has led to the frequent occurrence of traffic accidents, in which the rollover and sideslip accidents have become the main threat to the safety of human life and property. In this paper, the front wheel angle and tire braking force are used as control variables to control the roll and roll motion of the vehicle. Using Lyapunov's second stability determination method, the yaw velocity of reference is planned. Three dimensional maps of stable boundary of phase trajectory of lateral deflection angle of mass center under different speed and friction coefficient are determined. In addition, in order to meet the requirements of the stable performance of vehicle roll motion, The roll load transfer rate and the roll warning time are used as the dynamic roll index of the vehicle, and then the model predictive control strategy is adopted to meet the control requirements of both the pendulum and the roll stability of the vehicle. Selecting the braking force of the additional front wheel angle and four tires as the optimization variables, the vehicle swinging and roll switching control system is designed by selecting different objective functions and constraints. The system includes four control modes. That is, simple pendulum control mode, simple roll control mode, no control mode and integrated control mode of pendulum and roll. According to the state information feedback from the current vehicle measurement system and the reference state of the vehicle system, The corresponding control mode is judged, the optimal control variable is optimized, and the additional front wheel rotation angle is respectively applied to the steering actuator. In order to verify the effect of the designed switching control system, the Red Flag HQ430 vehicle dynamic model is selected as the controlled object. An off-line simulation experiment is carried out under a given working condition. The simulation results show that the switching controller can guarantee the stability of the vehicle roll and roll, but under the limit condition, the state of the vehicle system will jitter with the frequent switching of the control mode. This will not only aggravate the wear and tear of the actuator, but also affect the ride comfort of the driver. In order to avoid the problem of system jitter caused by the switching of the control mode, In this paper, a vehicle stability integrated control system is designed with the method of model predictive control. The requirements of pendulum stability and roll stability are unified in the objective function, in order to meet the requirements of the vehicle under different working conditions for the stability of the pendulum and the roll stability. The fuzzy control strategy is chosen to adjust the weight coefficient in the objective function in real time. By solving the above nonlinear optimization problem, the optimal control variable, the additional front wheel angle and the braking force of each tire, is obtained. The effectiveness of the integrated controller is verified by off-line simulation, such as limit condition experiment, high attachment double moving line experiment and fishhook experiment. The control effect of the integrated controller is compared with that of the switching controller. The simulation results show that the proposed controller is effective. Under the action of the two control systems, the vehicle can ensure the yaw and roll stability, and the integrated control system can effectively avoid the vehicle system oscillation caused by the switching of control strategy, and its control has a certain degree of ride comfort.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U461.6

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