A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies

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.     

您开车,悬挂我来调校 解读动态底盘控制系统

我们知道,要将轿车的悬挂调校得路感清晰,也就是能够感觉到明显的运动性,这必然会使舒适性大打折扣。反之,要获得良好的舒适性,路感就会变得模糊。也就是说:运动性和舒适性是相互冲突的。悬挂系统的调校原则就是在运动感和舒适感之间的平衡。如今,装备了DCC动态底盘控制系统的轿车能够在保持了路感清晰的基础之上,也可以让您感受到前所未有的驾乘舒适性。让您可以根据不同的驾驶环境相应地选择运动性底盘还是舒适性底盘。使底盘能始终将行驶条件实时地与驾驶者的意愿完美地配合并维持其平衡。在DCC系统中,悬挂系统针对路面条件、行驶工况及驾驶者的需求不断地进行自我调整,所以DCC亦称"自适应底盘控制系统"。众所周知,减震器具有迅速减弱车身和车轮振动能量的作用。故DCC的主角一定是电控调整阻尼值的减震器。但您可能没有想到,本刊上期介绍的EPS电动助力转向系统也在DCC动态底盘控制系统中起着作用。DCC通过可调节的减震器和电动转向机解决运动性底盘与舒适性底盘的设计冲突。     

汽车底盘集成控制动力学模型的发展

汽车底盘的很多子系统都可通过电子控制技术来改善相应的局部性能,如ABS、TCS、ASS、4WS等。为了减少装车成本使各系统之间协调工作,整个底盘系统有集成化控制的趋势。集成控制的关键之一是动力学模型的建立。文章分析了汽车底盘各子系统之间的联系,分别介绍了目前汽车电子系统和集成系统的模型发展情况,提出了建立底盘集成控制动力学模型的发展趋势。     

采用准中性转向参考模型的操纵稳定性控制技术

设计了一种提高车辆操纵稳定性的准中性转向参考模型。该模型在零侧偏角参考模型的基础上增加了中性转向特性以驾驶员一车辆闭环系统的稳定性。分别用这两种参考模型进行车辆制动时运动参数变化的仿真试验,试验表明准中性转向参考模型可以提高车辆制动时的操纵稳定性。     

基于多体模型的汽车底盘分级式综合控制仿真研究

运用多体理论建立了电动助力转向系统和主动悬架系统的模型,以及整车动力学模型。根据车辆行驶过程中转向、悬架和制动系统之间的耦合关系,设计了中央控制器,对各子系统进行协调控制。针对EPS、ASS和ABS各子系统分别采用了PD控制、PID控制和滑模变结构控制,构成底层分级综合控制系统。仿真结果表明:将多体模型运用在汽车底盘集成控制研究中是方便可行的;采用分级式综合控制比单独控制,能更有效地改善整车的综合性能。     

汽车底盘集成控制综述

介绍汽车底盘集成控制的控制目标、现状、两种基本结构以及相关的控制方法,比较了这两种结构的优缺点,指出协调控制更适合汽车工业的发展,提出实现底盘集成控制需要解决的3个关键技术。     

EPS用永磁同步电机的2自由度内模控制研究

针对电动助力转向用永磁同步电机采用了一种2自由度内模转矩控制方法,通过调整控制参数,可分别设定系统的跟随性和对干扰及噪声的抑制特性,仿真得出的电机控制效果在台架实验中得到了验证。     

基于主动制动的半挂汽车列车横摆稳定性控制

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。     

无人驾驶电动游览车底盘集成控制研究

介绍了具有自动寻迹行驶和遥控行驶2种模式的无人驾驶电动游览车,该车采用光电传感器自动辨识行驶路径,自动完成寻迹行驶,且在自主行驶过程中通过超声波传感器探测技术自动检测障碍物信息,具有防碰撞功能,在底盘控制上实现了无人驾驶技术、轮毂电机驱动技术和线控转向技术以及防碰撞技术等的集成控制,对于实现车辆的智能驾驶具有重要意义。     

城市交通干线动态双向绿波优化控制模型

针对城市交通干线协调控制无法适应交通流的随机性和不确定性、无法有效调节双向交通流的不均衡性等不足的现状,在分析城市干线系统控制方式的基础上,建立了以干线双向绿波到达交叉口的时刻差值最小为目标的交通干线信号动态优化控制模型,并采用遗传算法对模型进行求解。相关的案例分析显示,相对于传统的MAXBAND模型,所提出的控制模型实际有效绿波带宽增加18.4%,主干方向车辆平均延误减少16.85%,可以有效提高城市交通干线控制的效率。     

集成底盘控制系统的控制构架研究

给出了用于集成底盘控制系统的6层阶梯式控制构架,并把这6层分为对象和关系两大类。对象类中包括信息层、目标层、功能层和硬件层,关系类中包括协调层和执行层。详细讨论了每一层的具体内容并指出了实现集成底盘控制的关键技术。     

Design of an Active Unilateral Brake Control System for Five-Axle Tractor-Semitrailer Based on Sensitivity Analysis

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.     

Design of an Active Unilateral Brake Control System for Five-Axle Tractor-Semitrailer Based on Sensitivity Analysis

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.     

针对汽车操纵稳定性的悬架系统控制的研究

运用多体动力学方法建立了某款轻型客车整车操纵稳定性仿真模型,设计试制了一款磁流变阻尼器,作为该客车的减振器并通过试验建立其数学模型.以整车操纵稳定性及行驶平顺性为目标提出了一种基于PID神经网络的协调控制策略,实现了汽车半主动悬架与转向系统之间的良好匹配和协调.仿真结果表明,所提出的协调控制策略,在有效改善车辆的操纵稳定性的同时兼顾了车辆的行驶平顺性.     

汽车底盘控制系统总线的应用现状研究

简述了汽车底盘控制系统总线的种类及技术特点,给出先进的汽车车载网络拓扑结构。详细论述了在汽车控制领域得到广泛应用的控制器局域网和最具发展潜力的线控技术及其通讯特点,特别针对CAN总线介绍了SAE J1939、CANopen、DeviceNet 3种基于CAN的主流应用层协议。最后就我国车载网络的发展进行了探讨。     

Virtual Development of Ride and Handling Characteristics for Advanced Passenger Cars

Summary Advanced requirements for quality and functions, reduced development time, and increasing international competition motivate fundamental changes of the development processes. This puts much attention on the potentials of numerical simulation, i.e. experiments on the virtual product, while experiments on real prototypes will always remain an important part of the development process, for example to fulfill legal requirements, to achieve parameters for the simulation work, and to validate intermediate results and of course the final tuning. One step towards the virtual development of ride and handling characteristics of passenger cars is to achieve accuracy of simulation results which can be compared to what can be achieved with carefully selected experiments. This paper will present the state-of-the-art of current simulation technologies, their already available potentials and some remarks on current limitations. With this type of advanced simulation technologies, engineers are enabled to develop complex mechatronic chassis systems like active suspensions or stability control systems in relatively short periods of time to a high degree of maturity. A second use of these virtual prototypes is for extensive parameter studies or even optimizations, which will also give more insight in the complex nonlinear interactions of the chassis systems. This can even yield to a complete change of development processes from an analytical incremental setup to more target driven work.     

Virtual Development of Ride and Handling Characteristics for Advanced Passenger Cars

Summary Advanced requirements for quality and functions, reduced development time, and increasing international competition motivate fundamental changes of the development processes. This puts much attention on the potentials of numerical simulation, i.e. experiments on the virtual product, while experiments on real prototypes will always remain an important part of the development process, for example to fulfill legal requirements, to achieve parameters for the simulation work, and to validate intermediate results and of course the final tuning. One step towards the virtual development of ride and handling characteristics of passenger cars is to achieve accuracy of simulation results which can be compared to what can be achieved with carefully selected experiments. This paper will present the state-of-the-art of current simulation technologies, their already available potentials and some remarks on current limitations. With this type of advanced simulation technologies, engineers are enabled to develop complex mechatronic chassis systems like active suspensions or stability control systems in relatively short periods of time to a high degree of maturity. A second use of these virtual prototypes is for extensive parameter studies or even optimizations, which will also give more insight in the complex nonlinear interactions of the chassis systems. This can even yield to a complete change of development processes from an analytical incremental setup to more target driven work.     

汽车底盘故障微机诊断系统

本文以均方值、谱特征值为特征参量建立了一套微机故障诊断系统。该系统能完成对汽车底盘主要部件的故障进行现场监测和诊断。大量现场实验证明了该系统的实用性和有效性。     

用于电子稳定程序的汽车模型和控制策略

电子稳定程序(ElectronicStabilityProgram)是行驶车辆的一种主动安全系统,它综合了制动防抱死系统,驱动力控制系统和横摆力矩控制系统,使行驶车辆的安全性得到很大的提高。本文首先建立用于电子稳定程序的汽车模型,包括车身模型、悬架模型、转向模型、轮胎模型、制动系统模型、发动机模型和传动系模型。然后建立了主动横摆控制的控制逻辑,通过加入制动防抱死系统和牵引力控制系统,构成了电子稳定程序的控制逻辑。最后对移线运动、紧急转向、制动转向、驱动转向4个典型的工况进行仿真,从而验证了电子稳定程序控制逻辑的正确性。     

客车底盘零部件涂装工艺探讨

分析了影响客车底盘零部件腐蚀性能的环境因素和非环境因素,并结合客车底盘零部件涂层的质量要求,分别介绍了客车的车架类零部件、车桥类零部件和发动机类零部件的涂装工艺的选择及应用。