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在对车辆进行稳定性控制研究时,往往需要首先选择一个控制目标,即所谓的参考模型。但是在诸多的参考模型中,选用什么样的参考模型最合适,却较少被提及。文中利用Simulink,对几种常见的参考模型进行了开环及闭环评价。分别分析了参考模型的开环稳态幅值特性和频域特性,将参考模型置于道路—驾驶员—车辆的闭环系统中进行仿真,对影响操纵稳定性的一些重要指标给出定量评价,并进行对比分析,从而为参考模型的选用提供一些依据。仿真结果表明,采用DYC或4WS参考模型的控制系统可以较好地改善车辆转向工况的横向稳定性。 相似文献
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多轴车辆操纵稳定性研究 总被引:1,自引:0,他引:1
采用基于综合曲率误差的预瞄PID驾驶员模型对HTF6轴车辆的稳态回转、车道变换和转弯制动3种典型操纵稳定性试验工况进行了仿真分析,对多轴车辆不同设计参数对整车操纵稳定性的影响进行了对比分析.结果表明,标准配置的1500×600轮胎可以综合平衡整车操纵稳定性;采用根据车速控制后桥转向模式的电控转向系统可同时满足多轴车辆几何通过性和高速侧倾稳定性的要求;车辆质心高度增加100 min对仿真计算结果无明显影响. 相似文献
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德尔福制动控制系统7.4(DBC 7.4)是智能制动控制技术的最新一代。DBC 7.4应用了精密的电磁阔和电液控制循环泵以控制车轮压力;在防抱制动系统(ABS)中,来自车轮速度传感器的输入信息被用于调节单个车轮的制动压力,以确保操纵稳定性,改善转向操纵性能和缩短制动距离.本系统作为选装件也能够有助于车辆起步和改善车辆的稳定性和转向性能。 相似文献
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独立轮电驱动车辆主动操纵稳定控制研究 总被引:1,自引:0,他引:1
提出了采用变增益参考模型的滑模跟踪控制策略,以横摆角速度和侧滑速度为控制对象,独立控制左右轮驱动力产生直接横摆力矩,提高了车辆在极限工况下的操纵稳定性,并改善了车辆固有的转向特性。改进的滑模控制算法减小了系统抖振并具有较强的鲁棒性。 相似文献
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在设计车道偏离防止系统时,为充分利用差动制动控制和主动转向控制,同时兼顾车辆行驶的安全性与驾驶员驾驶自由,提出了一种双级预警的利用主动转向与差动制动协调控制的车道偏离防止策略。当车辆危险程度较低时仅采用差动制动控制,保证驾驶员对转向盘的控制;当车辆危险程度较高时,采用预测控制实现主动转向与差动制动系统的协调控制,使车辆能快速地回到车道中心线。选取跨道时间来设计车辆偏离预警算法,并根据车辆转向系统的响应分别设定预警阈值。为保证车辆的稳定性,采用模型预测控制算法添加合理的约束,设计差动制动控制和主动转向与差动制动协调控制器。仿真与硬件在环试验结果表明,所设计的基于主动转向与差动制动协调的车道偏离防止控制策略在保证车辆行驶安全性的前提下给予了驾驶员充分的驾驶自由。 相似文献
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四轮转向车辆多体仿真与试验研究 总被引:1,自引:0,他引:1
以四轮转向原理样车为对象,运用多体动力学理论对四轮转向车辆的转向特性进行了计算机仿真研究和试验验证。对建立整车多体模型的方法进行了论述。通过对仿真数据与样车试验结果的对比分析,证明了四轮转向多体模型各类参数和控制方法的正确性和适用性。最后利用建立的整车多体模型,仿真分析了前后悬架刚度对操纵稳定性的影响,以及制动转向时的转向响应特性。 相似文献
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现代汽车的操纵稳定性直接影响了汽车的安全行驶性能、转向性能和制动性能,其中一项重要的技术指标就是四轮定位参数。汽车出厂时都设置有合理的四轮定位角度,这样才能保证车辆安全稳定地行驶。但是,汽车在使用过程中悬架及转向系元件的磨损、变形、损坏等,会使汽车四轮定位参数发生变化而失准,进而导致车辆操纵稳定性的下降,当出现以下情况时,就有必要对四轮定位的角度进行检测与校正。 相似文献
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汽车制动过程的计算机模拟分析 总被引:5,自引:0,他引:5
通过建立汽车制动过程的数字模型,用计算机模拟分析了汽车的制动响应及各种敏感因素对它的影响,同时,进一步分析了引起汽后前后轮先后抱死拖滑的主要原因和影响程度,为汽车制动和制动稳定性的研究提供了参考。 相似文献
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Davide Tavernini Efstathios Velenis Stefano Longo 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2017,55(6):902-923
The distribution of brake forces between front and rear axles of a vehicle is typically specified such that the same level of brake force coefficient is imposed at both front and rear wheels. This condition is known as ‘ideal’ distribution and it is required to deliver the maximum vehicle deceleration and minimum braking distance. For subcritical braking conditions, the deceleration demand may be delivered by different distributions between front and rear braking forces. In this research we show how to obtain the optimal distribution which minimises the pitch angle of a vehicle and hence enhances driver subjective feel during braking. A vehicle model including suspension geometry features is adopted. The problem of the minimum pitch brake distribution for a varying deceleration level demand is solved by means of a model predictive control (MPC) technique. To address the problem of the undesirable pitch rebound caused by a full-stop of the vehicle, a second controller is designed and implemented independently from the braking distribution in use. An extended Kalman filter is designed for state estimation and implemented in a high fidelity environment together with the MPC strategy. The proposed solution is compared with the reference ‘ideal’ distribution as well as another previous feed-forward solution. 相似文献
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Impact of Liquid Load Shift on the Braking Characteristics of Partially Filled Tank Vehicles 总被引:1,自引:0,他引:1
R. Ranganathan Y. S. Yang 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1996,26(3):223-240
Braking characteristics of a tractor-tank-semitrailer vehicle is investigated by incorporating the influence of liquid load shift occurring within the partially filled tank. The tank vehicle model is developed by integrating a steady state model of a partially filled tank and a pitch plane model of the vehicle. The liquid load shift occurring in the pitch plane of the vehicle during a braking maneuver is characterized using the change in the gradient of the free surface of liquid and the corresponding shift in the center of gravity of the fluid bulk. The change in normal load on the various axles of the vehicle during the maneuver is then computed to analyze the braking behavior of the partially filled tank vehicle. The braking characteristics of the tank vehicle are then compared to those of an equivalent rigid cargo vehicle in order to study the impact of liquid load shift. Influence of various vehicle and tank design parameters on the braking behavior and wheel lock-up condition is also investigated for typical braking maneuvers. 相似文献
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Penglei Dai Jay Katupitiya 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2018,56(11):1682-1716
The aim of this paper is to present a novel control method for a four-wheel steer and four-wheel drive (4WS4WD) vehicle. The novelty is in the integration of sliding mode control (SMC) and particle swarm optimization (PSO) that is proposed to solve the control problem caused by the nonlinear, highly coupled and over-actuated characteristics of the four-wheel steer and four-wheel drive (4WS4WD) vehicle. The validity of the control method is evaluated by two criterions, namely path following performance assessed by the vehicle's position errors with respect to the reference path, and motion quality reflected by the smoothness of vehicle's velocities and accelerations. In vehicle modelling, a kinematic model and a dynamic model considering all slip forces are proposed for the controller design. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness. 相似文献
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本文描述了17自由度汽车全工况操纵与制动过程动力学模型的建模,仿真与验证。该模型考虑了侧风,有无防抱系统,高速,变车速,双移线转变制动等各种极端工况,仿真结果与美国密执安大学的仿真结果十分吻合,证实了该算法与模型具有很好的精度。 相似文献
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Hongliang Yuan Xuewei Sun 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2019,57(8):1188-1205
ABSTRACTCollision avoidance is a crucial function for all ground vehicles, and using integrated chassis systems to support the driver presents a growing opportunity in active safety. With actuators such as in-wheel electric motors, active front steer and individual wheel brake control, there is an opportunity to develop integrated chassis systems that fully support the driver in safety critical situations. Here we consider the scenario of an impending frontal collision with a stationary or slower moving vehicle in the same driving lane. Traditionally, researchers have approached the required collision avoidance manoeuver as a hierarchical scheme, which separates the decision-making, path planning and path tracking. In this context, a key decision is whether to perform straight-line braking, or steer to change lanes, or indeed perform combined braking and steering. This paper approaches the collision avoidance directly from the perspective of constrained dynamic optimisation, using a single optimisation procedure to cover these aspects within a single online optimisation scheme of model predictive control (MPC). While the new approach is demonstrated in the context of a fully autonomous safety system, it is expected that the same approach can incorporate driver inputs as additional constraints, yielding a flexible and coherent driver assistance system. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(7):1053-1084
This paper proposes three different kinds of vehicle stability control systems all based on internal model control (IMC) strategy which are 4WS (4 wheel steer: front- and rear-wheel active steer) IMC, Brake-FAS (brake and front-wheel active steer) IMC and Brake IMC, respectively. Inverse system method is introduced to solve the nonlinearity coupled with brake involved vehicle stability control systems. Based on an 11-DOF (degrees of freedom) Matlab/Simulink® vehicle model testified by CarSim7®, simulations combined with different driving manoeuvres and road surfaces are performed, and detailed comparisons and analyses are given based on simulation results. 相似文献