摘要
利用MATLAB/Simulink模糊控制工具箱,提出了建立四轮转向控制系统的模糊控制策略。以质心侧偏角及车身横摆角速度作为模糊控制规则的输入,并依此确定后轮转角的输入,建立模糊控制器。利用多体动力学分析软件ADAMS建立四轮转向汽车的整车多体、多自由度模型,并考虑了悬架、转向系统中空间机构的几何非线性,以及轮胎、衬套、弹簧、减震器等部件的非线性。该模型能准确地表达车辆的动态特性,并对所建立的四轮转向整车模型进行智能控制。利用ADAMS/Control接口,进行了模型的集成和协同仿真。仿真结果表明,模糊控制能较大地改善车辆的操控特性,并具有较强的鲁棒性。
A new intelligent controlled Four-Wheel Steering （4WS） was proposed by using fuzzy control strategy which was suitable for control nonlinear systems. The proposed 4WS took the side slip angle of the vehicle and yaw velocity of the vehicle as fuzzy control rule input, and the output was the rear wheel steering angle. A fuzzy control strategy model of 4WS was constructed by MATLAB/Simulink fuzzy control toolbox, and using the fuzzy control strategy to drive the rear wheel. A multi-body vehicle dynamic model was set up by ADAMS including the detailed suspension and steering system kinematics freedom and nonlinear characteristics of the tire, bushing, spring and damper, and the model could accurately predict dynamics performance of the vehicle. The two models were integrated and co-simulated by the interface of ADAMS/Control. Simulation result indicated that the fuzzy control could improve the handling and stability of vehicles greatly with stronger robustness.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2007年第6期1234-1240,共7页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(60574053)
国家863计划资助项目(2003AA001031)~~
关键词
四轮转向
模糊控制
多体系统动力学
协同仿真
four wheel steering
fuzzy control
multi-body system dynamics
co-simulation
