【摘要】：為改善四輪獨(dú)立轉(zhuǎn)向(4WIS)車輛的操縱穩(wěn)定性,在設(shè)計(jì)了4WIS模型跟蹤最優(yōu)控制器的基礎(chǔ)上,對(duì)最優(yōu)控制參數(shù)對(duì)控制性能的影響以及4WIS車輛轉(zhuǎn)向動(dòng)力學(xué)特性進(jìn)行了分析,提出了一種基于車輛轉(zhuǎn)向狀態(tài)的最優(yōu)控制器參數(shù)調(diào)整策略,并設(shè)計(jì)了模糊邏輯控制參數(shù)調(diào)節(jié)器,實(shí)現(xiàn)最優(yōu)控制器參數(shù)的自適應(yīng)調(diào)整.結(jié)合4WIS車輛的八自由度動(dòng)力學(xué)模型對(duì)提出的模糊最優(yōu)控制系統(tǒng)進(jìn)行仿真實(shí)驗(yàn)分析,結(jié)果表明:設(shè)計(jì)的4WIS模糊最優(yōu)控制系統(tǒng)能夠極大地改善車輛的穩(wěn)定性與安全性;在高速低附著系數(shù)的極限工況下,該系統(tǒng)仍然夠能保證車輛的理想轉(zhuǎn)向狀態(tài).該系統(tǒng)對(duì)于強(qiáng)側(cè)向風(fēng)一類的側(cè)向干擾具有很強(qiáng)的抑制能力;風(fēng)速90 km/h的強(qiáng)側(cè)風(fēng)且無(wú)駕駛員干預(yù)情況下,車輛在320 m行駛距離內(nèi),側(cè)向偏移量?jī)H為0.78 m.
[Abstract]:In order to improve the handling stability of four-wheel independent steering (4WIS) vehicles, based on the design of 4WIS model tracking optimal controller, the influence of optimal control parameters on control performance and the steering dynamics of 4WIS vehicles are analyzed. In this paper, an optimal controller parameter adjustment strategy based on vehicle steering state is proposed, and a fuzzy logic control parameter regulator is designed to realize the adaptive adjustment of the optimal controller parameters. The simulation results of the proposed fuzzy optimal control system based on the eight degree of freedom dynamics model of 4WIS vehicle show that the designed 4WIS fuzzy optimal control system can greatly improve the stability and safety of the vehicle. Under the limit condition of high speed and low adhesion coefficient, the system can still guarantee the ideal steering condition of the vehicle. The system has a strong ability to suppress lateral interference such as strong side wind, and the lateral deviation is only 0.78 m when the wind speed of 90 km/h strong crosswind without driver intervention is only 0.78 m in the range of 320 m.
【作者單位】： 吉林大學(xué)交通學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51575229)
【分類號(hào)】：U461.6
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本文編號(hào)：2272610