摘要
为研究汽车在特殊路面及工况下的转向稳定性,利用Matlab/Simulink搭建7自由度汽车模型,讨论分析驱动力分配与制动力分配对改善汽车操纵稳定性的影响程度,并基于分层协调控制思想设计汽车电子稳定控制程(Electronic stability program,ESP)与动态驱动力分配控制(Dynamic performance control,DPC)系统的上层控制器,ESP采用模糊控制,并基于神经网络PID控制设计驱动力分配控制系统。在此基础上开展多种典型工况下的控制系统性能仿真后,利用NI-PXI设备构建硬件在环试验仿真平台,对控制系统进行试验验证。车速50 km/h,路面附着系数为0.4下双移线试验结果表明:汽车在第一次变道时其横摆角速度与质心侧偏角分别降低了0.027 rad/s与0.023 rad,相比无控制时分别改善8.3%与43.8%;在第二次变道严重失稳情况下,运用所提控制系统依旧可将车辆转向状态稳定在安全区域。
For the study of the car in the special road and steering stability, the seven degree of freedom vehicle model is built by using Matlab/Simulink software, analyzed the driving force distribution and the braking force distribution on the influence degree of the improving vehicle handling stability, and based on layered coordination control thought, the electronic stability program （ESP） and dynamic performance control（DPC） system of the upper controller is designed, using fuzzy control for ESP, The driving force distribution control system are designed based on neural network PID control system .The simulation of typical working conditions is carried out, and then, the test simulation platform of hardware in the loop is constructed based on the NI - PXI device, for the test control system. In the speed of 50 km/h, double lane-change test results whose tire-road friction coefficient is under 0.4 show when the car＇s yaw velocity and the side slip angle decline 0.027 rad/s and 0.023 rad in the first lane change, and improve respectively 8.3% and 43.8% when compared with no control. Meanwhile, in the second lane changing serious instability cases, using the proposed control system still can be in state of vehicle steering stability safety area.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2017年第8期147-157,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(51305004)
关键词
四驱汽车
差动制动
驱动力分配
硬件在环
4WD： differential braking： torque distribution
hardware in the loop
