摘要
针对自走式高地隙喷雾机低速作业工况下操纵稳定性控制效果差的问题,提出直接横摆力矩控制的操纵稳定性控制方案.首先建立了包含Dugoff非线性轮胎模型的7自由度整车模型,设计了整车力矩控制器,它包括纵向控制和横向控制,纵向控制是根据实际车速和期望车速的误差对车轮驱动力进行PID闭环控制,横向控制主要有滑模控制器和力矩分配器两部分组成,用于弥补纵向控制对驱动力控制的不足;然后针对横向控制力矩实现方式设计了5种实现直接横摆力矩的车轮控制方案;接着以直接横摆力矩实现方案、车速和负载质量为因素设计了二次旋转正交组合试验;最后,通过响应曲面法利用Design Expert软件探究了3种因素与引入直接横摆力矩后作业车辆操纵稳定性优化指标的关系.仿真试验结果表明:整车力矩控制器能有效改善整车操纵稳定性,且以改变内侧车轮的控制方案,1.25 m·s^(-1)的作业速度和1 000 kg的负载组合下使优化指标达到55.2%.
To solve the problem of poor handling and stability control effect of self-propelled high-clearance sprayer under low-speed operating conditions, a direct yaw moment control scheme of handling stability was proposed. The 7-degree-of-freedom vehicle model including Dugoff nonlinear tire model was established, and a vehicle torque controller was designed with longitudinal control and lateral control. The longitudinal control was used to drive the wheels according to the error between actual vehicle speed and expected vehicle speed, and the force was controlled by PID closed-loop control. The lateral control was mainly composed of sliding mode controller and torque distributor, which was used to make up for the lack of longitudinal control on the driving force control. Five wheel control schemes were designed to achieve direct yaw moment for the realization of lateral control torque. The quadratic rotation orthogonal combination test was designed by the direct yaw moment realization scheme with vehicle speed and load quality as factors. By the response surface method, Design Expert software was used to explore the relationship between three factors and optimization index of handling and stability of working vehicle after introducing the direct yaw moment. The simulation test results show that the vehicle torque controller can effectively improve the steering stability of vehicle, and by changing the control scheme of inner wheel, the optimization index reaches as high as 55.2% under the combination of working speed of 1.25 m·s^(-1)and load of 1 000 kg.
作者
冯静安
张鹏
王伟军
齐庆征
宋宝
FENG Jing′an;ZHANG Peng;WANG Weijun;QI Qingzheng;SONG Bao(College of Mechanical&Electrical Engineering,Shihezi University,Shihezi,Xinjiang 832003,China;School of Mechanical Science&Engineering,Huazhong University of Science and Technology,Wuhan,Hubei 430074,China)
出处
《江苏大学学报（自然科学版）》
CAS
北大核心
2022年第6期657-665,共9页
Journal of Jiangsu University：Natural Science Edition
基金
国家自然科学基金资助项目(61663042)。
关键词
高地隙喷雾机
操纵稳定性
滑模控制
二次旋转正交组合试验
响应曲面法
high-clearance sprayer
handling stability
sliding mode control
quadratic rotation orthogonal combination test
response surface method
