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针对在复杂工况及不确定扰动下主动后轮转向系统角度高精度跟踪控制及抗干扰问题,首先采用可调长度电控束角杆的主动后轮转向机构实现主动后轮转向动作,并对该系统建立其非线性动力学模型。然后,基于动力学模型分析设计主动后轮转角改进自抗扰跟踪控制方法,利用扩张状态观测器对外部和内部扰动进行观测并将扰动补偿到控制器中,以实现高精度角度控制和抗干扰能力。最后,通过试验证明,本文中采用的可调长度电控束角杆转向机构以及改进自抗扰跟踪控制方法能在不确定负载扰动下实现较高精度的角度跟踪控制,并与常规PID控制相比,改进自抗扰控制方法具有较强的鲁棒性和抗干扰性。 相似文献
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为了提高线控转向车辆在高速工况下角传动比非线性响应的准确性,分析线控转向的功能指标,推导可变传动比的计算过程,讨论固定横摆角速度增益、固定侧向加速度增益、车速、方向盘输入对前轮转角映射结果的影响,建立基于模糊推理系统的可变传动比策略,针对理想传动比在车辆稳定性控制层面上的不足,采用前轮补偿角的方法进行最终前轮转角的决策。在验证过程中,搭建线控转向整车数学模型,选取典型转向输入工况,结合动力学仿真软件对总体系统设计进行联合仿真对比分析。实验结果分析证明,设计后的传动比策略可以实现方向盘指标需求,降低横摆角速度和质心侧偏角,有效减轻驾驶员的操作负荷,基于改进滑模控制的主动转向策略相比饱和函数指数趋近律滑模控制,超调量降低了9%,提高汽车行驶安全。 相似文献
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文章的研究目的是实现线控转向系统前轮主动转向以改善车辆的行驶状态。文章首先对转向执行模块进行动力学分析,并设计出基于前馈控制的理想传动比;其次,结合理想传动比和状态反馈,建立前馈-反馈联合控制系统,以获得最优的前轮转角;最后,联合Carsim中的车辆模型进行仿真试验,并选取方向盘转角阶跃输入作为试验工况。结果表明,文章所采用的联合控制策略可实时调整前轮转角,有效地改善了车辆的行驶状态,为线控转向系统的研究提供了一定的参考价值。 相似文献
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电液主动悬架的自校正控制 总被引:3,自引:2,他引:3
运用衰减记忆递推最小二乘参数估计算法和广义加权最小方差自校正控制算法对主动悬架系统进行控制,并利用压力伺服阀控制的液压缸作为执行器。理论分析和仿真结果表明,所提出的控制系统是可行的,这种自适应自校正算法对系统中一些时变参数具有良好的适应性。 相似文献
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A.G. Thompson P.M. Chaplin 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1996,25(3):185-202
For a simple vehicle active suspension system complete optimality and zero steady state body displacements may be achieved if the axle and body accelerations, and other easily measured quantities, are included in the performance index. Apart from not requiring an observer, this also allows the optimal feedback gains to be determined for an arbitrary body spring rate. In a theoretical example, model parameters matching those of an experimental test rig are employed. The results of computer simulations, with and without an electrohydraulic servovalve and actuator, are compared to demonstrate the effects of inner loop gain on force control. Aspects of the system behaviour including lockup are commented upon. 相似文献
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主动汽车悬架的非线性控制 总被引:8,自引:0,他引:8
本文采用1/4车模型对天棚阻尼器和主动悬架的动力学性能进行分析,针对执行器的非线性特性,探讨了微分几何法和反馈法线必互法在主动悬架控制中的应用,在系统控制设计中采用了离散滑模法,仿真结果显示非线性控制律能有效地改善主动悬架的隔振特性。 相似文献
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R.C. Lin Graduate Student D. Cebon Lecturer D.J. Cole Royal Society University Research Fellow 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1996,26(1):17-43
This paper describes an investigation into active roll control of articulated vehicles. The objective is to minimise lateral load transfer using anti-roll bars incorporating low bandwidth hydraulic actuators. Results from handling tests performed on an articulated vehicle are used to validate a nonlinear yaw/roll model of the vehicle. The methodology used to design lateral acceleration controllers for vehicles equipped with active anti-roll bars is developed using a simplified linear articulated vehicle model. The hardware limitations and power consumption requirements of the active elements are studied. The controller is then implemented in the validated articulated vehicle model to evaluate the performance of an articulated lorry with active anti-roll bars. The simulation results demonstrate the possibility of a significant improvement in transient roll performance of the vehicle, using a relatively low power system (10 kW), with low bandwidth actuators (5 Hz). 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5-6):383-396
SUMMARY The development of a mathematical model of a limited bandwidth hydro-pneumatic suspension that is incorporated into a vehicle handling model is described. The combined model is used to evaluate a suitable control strategy for eliminating body roll during a cornering manoeuvre. The philosophy behind the roll control strategy has been to use feedback measurements of the body motions which do not compromise the ride control. A study of the influence of the position of the body motion feedback transducer on the effectiveness of the system to reduce the body roll is presented. Non-linear modelling of the suspension components for a 0.8g cornering manoeuvre has revealed performance limitations. Conclusions are drawn as to the effectiveness of the control scheme. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5-6):347-358
SUMMARY This paper describes new control methods for the active suspension. For improving ride comfort further, preview control rule is proposed. For improving stability further, roll stiffness distribution control rule is examined by the test vehicle. Simulations and vehicle driving tests are conducted to confirm the effect of these new control methods. The results of simulations and vehicle driving tests show in our research phase that preview control can achieve a substantial improvement in ride comfort and application of roll stiffness distribution control provides a large improvement in stability 相似文献
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Advanced Control Methods of Active Suspension 总被引:1,自引:0,他引:1
H. Tobata K. Fukuyama T. Kimura N. Fukushima 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1993,22(5):347-358
This paper describes new control methods for the active suspension. For improving ride comfort further, preview control rule is proposed. For improving stability further, roll stiffness distribution control rule is examined by the test vehicle. Simulations and vehicle driving tests are conducted to confirm the effect of these new control methods. The results of simulations and vehicle driving tests show in our research phase that preview control can achieve a substantial improvement in ride comfort and application of roll stiffness distribution control provides a large improvement in stability 相似文献
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D. W. Shuttlewood D. A. Crolla R. S. Sharp I. L. Crawford 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1993,22(5):383-396
The development of a mathematical model of a limited bandwidth hydro-pneumatic suspension that is incorporated into a vehicle handling model is described. The combined model is used to evaluate a suitable control strategy for eliminating body roll during a cornering manoeuvre. The philosophy behind the roll control strategy has been to use feedback measurements of the body motions which do not compromise the ride control. A study of the influence of the position of the body motion feedback transducer on the effectiveness of the system to reduce the body roll is presented. Non-linear modelling of the suspension components for a 0.8g cornering manoeuvre has revealed performance limitations. Conclusions are drawn as to the effectiveness of the control scheme. 相似文献
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在传统前馈后轮主动转向控制的基础上,提出了一种2自由度后轮主动转向鲁棒控制规律。该方法通过引入独立参数化2自由度控制结构,实现了4轮转向系统对车速变化和轮胎侧偏刚度变化的独立补偿。其前馈控制器的设计与传统前馈4轮转向控制完全相同,而反馈控制器的设计为一针对轮胎侧偏刚度不确定性的标准H∞控制问题。该方法的主要优点是既充分发挥了传统前馈控制的优点,又降低了反馈控制器的阶数。 相似文献
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液压主动悬架的非线性自适应控制 总被引:2,自引:0,他引:2
以车身垂直加速度和悬架动行程为控制目标,同时引入非线性高通滤波器和非线性低通滤波器,基于逆向递推(Backstepping)技术,并考虑液压系统的非线性特性及其参数不确定性,提出了一种主动悬架的非线性自适应控制方法。仿真结果表明,在不同的激励信号作用下,都取得了较好的控制效果。 相似文献