共查询到19条相似文献,搜索用时 203 毫秒
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为提高汽车行驶安全性,设计了基于障碍物斥力场模型的汽车主动避撞系统,建立了道路算盘模型和驾驶员预瞄跟随模型,利用算盘模型可求解出避撞路径,使用驾驶员预瞄跟随模型可求解出汽车转向盘最优转角。通过动静态障碍物环境下的仿真试验表明,利用算盘模型规划出的路径平滑、安全、可跟踪;驾驶员预瞄跟随模型的路径跟随精度高,实现了汽车主动避撞。 相似文献
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L. Palkovics M. El-Gindy 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1995,24(10):725-758
This paper presents the results of a parametric sensitivity analysis of a five-axle tractor-semitrailer vehicle combination using 3-DOF linear yaw/plane model. The first order logarithmic sensitivity functions are derived with respect to several vehicle design parameters. For stabilization of the vehicle's directional behaviour a fairly new control concept called “Active Unilateral Braking Control (AUBC)” acting on the tractor rear wheel's in order to produce a stabilizing yaw torque is investigated. The AUBC system improves not only the directional stability, but also affects the roll dynamics of the vehicle. The sensitivity of the controlled vehicle system with linear quadratic controller (LQR) is also examined, a robust controller design procedure is proposed as a result of the sensitivity analysis. The robustness of this controller in the presence of both internal (including parametric uncertainties, non-linear dynamics) and external disturbances (such as road irregularities and side wind) allows its implementation with confidence with a non-linear vehicle model. The applicability of this control system to a non-linear vehicle model is tested using a 34 DOF, non-linear vehicle model of the tractor-semitrailer combination. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):725-758
SUMMARY This paper presents the results of a parametric sensitivity analysis of a five-axle tractor-semitrailer vehicle combination using 3-DOF linear yaw/plane model. The first order logarithmic sensitivity functions are derived with respect to several vehicle design parameters. For stabilization of the vehicle's directional behaviour a fairly new control concept called “Active Unilateral Braking Control (AUBC)” acting on the tractor rear wheel's in order to produce a stabilizing yaw torque is investigated. The AUBC system improves not only the directional stability, but also affects the roll dynamics of the vehicle. The sensitivity of the controlled vehicle system with linear quadratic controller (LQR) is also examined, a robust controller design procedure is proposed as a result of the sensitivity analysis. The robustness of this controller in the presence of both internal (including parametric uncertainties, non-linear dynamics) and external disturbances (such as road irregularities and side wind) allows its implementation with confidence with a non-linear vehicle model. The applicability of this control system to a non-linear vehicle model is tested using a 34 DOF, non-linear vehicle model of the tractor-semitrailer combination. 相似文献
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为研究半挂汽车列车在高速大转向等极限操作工况下的横摆稳定性控制问题,建立了14自由度的半挂汽车列车非线性仿真模型;提出了牵引车与半挂车独立直接横摆力矩控制的横摆稳定性控制方案,通过牵引车和半挂车车轮的合理选择和主动制动实现横摆控制;以跟踪参考模型的稳态横摆响应为目标,设计了PI横摆稳定性控制器,对牵引车和半挂车分别设计了目标制动车轮的选择决策规则。单移线操作仿真结果表明,基于主动制动的横摆力矩控制可有效改善极限工况下半挂汽车列车的横摆稳定性,牵引车与半挂车进行独立横摆控制可以减小制动车轮选择决策的复杂性,而获得较好的控制效果。 相似文献
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Magnus G fvert Olof Lindg rde 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2004,41(1):51-82
Summary This paper describes a flexible and modular 9-degrees-of-freedom nonlinear dynamic handling model for a tractor-semitrailer combination vehicle. The equations of motion are derived from the fundamental equations of dynamics in Euler's formulation, with the use of general computer-algebra software. The primary aim of the model is simulation of handling scenarios with active yaw control, using unilateral braking. However, it may also prove useful in other areas of tractor-semitrailer handling analysis or hardware-in-the-loop simulations. The model is formulated as a state-space model that may be implemented in standard simulation environments. A Simulink implementation is presented, and simulation results are compared with experiments to validate the model. 相似文献
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Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(6):331-350
ABSTRACT Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14). 相似文献
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Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen
F. Vlk 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1983,12(6):331-350
Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis
A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14). 相似文献
A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14). 相似文献
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Summary This paper describes a flexible and modular 9-degrees-of-freedom nonlinear dynamic handling model for a tractor-semitrailer combination vehicle. The equations of motion are derived from the fundamental equations of dynamics in Euler’s formulation, with the use of general computer-algebra software. The primary aim of the model is simulation of handling scenarios with active yaw control, using unilateral braking. However, it may also prove useful in other areas of tractor-semitrailer handling analysis or hardware-in-the-loop simulations. The model is formulated as a state-space model that may be implemented in standard simulation environments. A Simulink implementation is presented, and simulation results are compared with experiments to validate the model. 相似文献