共查询到18条相似文献,搜索用时 250 毫秒
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结合卡尔曼滤波器的车辆主动悬架轴距预瞄控制研究 总被引:8,自引:2,他引:8
利用轴距预瞄信息,即前后轮路面输入之关系,同时结合卡尔曼滤波器作为状态估计器,本文提出了一种算法用于车辆悬架控制律的设计,根据模拟结果,研究了算法的可行性,分析了卡尔曼滤波器对状态变量的估计精度,以及轴距预瞄控制对进一步改进车辆性能的潜力。 相似文献
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应用模糊控制和神经网络控制理论,构建了1/2车辆的半主动悬架模型,设计了基于轴距预瞄的半主动悬架模糊神经网络控制系统.对前轮半主动悬架采用以对应处车身垂向加速度为目标的模糊控制,对后轮半主动悬架采用轴距预瞄模糊控制,并利用神经网络来调整模糊控制器的控制规则和隶属度函数.在不同车速下对所建的控制系统分别进行了白噪声和路面脉冲输入的仿真.结果表明,与传统的被动系统相比,轴距预瞄模糊神经网络控制的半主动悬架系统能有效降低车辆振动;与模糊控制的半主动悬架系统相比,质心垂向加速度和后轮对应处车身加速度均有显著减小,较好地改善了车辆的行驶平顺性. 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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智能车主要分为路径规划、路径跟踪、自动泊车三大部分。路径规划主要研究车辆的避障问题,路径跟踪主要研究车辆跟随期望路径的有效性,自动泊车主要分析车辆在有限的几何空间内将车辆泊到指定的空间位置。其中路径跟踪是其核心部分,根据研究方法的不同,主要分为"预瞄跟随模型"和"智能控制模型"。文章根据预瞄点的不同,主要分析单点预瞄模型、两点预瞄模型、路程预瞄模型。根据智能控制方法的不同,主要分析模糊逻辑控制驾驶员模型、神经网络控制驾驶员模型、模型预测控制驾驶员模型。 相似文献
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为提高基于预瞄理论的路径跟踪控制算法的计算效率与适应性,本文中在预瞄最优曲率模型的基础上,提出了一种依据车辆实际行驶路程获取预瞄点侧向位移的弧长预瞄方法。并在该方法下,推导了预瞄点侧向位移与车辆前轮转角之间的关系,之后通过侧向跟踪闭环系统方框图,建立了路径跟踪的侧向控制模型。最后,在CarSim/Simulink联合仿真环境下,通过建立若干典型仿真工况,对该模型的有效性和人-车-路闭环系统转向盘稳定性影响因素进行了仿真分析。结果表明,该方法在侧向路径跟踪控制方面具有跟踪精度高、计算速度快和适应性好的特点。并且,当闭环系统同时满足期望路径点方向连续和预瞄距离大于临界前视距两个条件时转向盘趋于稳定。 相似文献
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Optimal Preview Control of a Two-dof Vehicle Model Using Stochastic Optimal Control Theory 总被引:2,自引:0,他引:2
S. Senthil S. Narayanan 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1996,25(6):413-430
An optimal preview control algorithm is applied to a two degree of freedom(dof) vehicle model travelling with constant velocity on a randomly profiled road. The road roughness is modelled as a homogeneous random process being the output of a linear first order filter to white noise. The input from the road irregularity is assumed to be measured at some distance in front of the vehicle and this measured infonnation is utilized by the active controller to prepare the system for the ensuing input. The preview control algorithm is obtained by minimizing a quadratic performance index and by describing the average behaviour of the system by the covariance matrix of the vehicle response state vector. Results are presented for full state feedback and significant improvements in sprung mass acceleration, suspension working space and road holding are observed. 相似文献
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Optimal Linear Preview Control of Active Vehicle Suspension 总被引:10,自引:0,他引:10
Aleksander HA 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1992,21(1):167-195
The problem of linear preview control of vehicle suspension is considered as a continuous time stochastic optimal control problem. In the proposed approach minimal a priori information about the road irregularities is assumed and measurement errors are taken into account. It is shown that estimation and control issues can be decoupled. The problem formulation and the analytical solution are given in a general form and hence they apply to other problems in which the system disturbances are unknown a priori, even in a stochastic sense, but some preview information is possible.
The solution is applied to a two-degree-of-freedom (2-DOF) vehicle model. The effects of preview information on ride comfort, road holding, working space of the suspension and power requirements are examined in time and frequency domains. The results show that the greatest potential is for improving road holding properties. This effect could not have been observed in previous studies based on a 1-DOF vehicle model. It is also demonstrated that the presence of preview drastically reduces power requirements, thus relieving the performance versus actuator power dilemma. 相似文献
The solution is applied to a two-degree-of-freedom (2-DOF) vehicle model. The effects of preview information on ride comfort, road holding, working space of the suspension and power requirements are examined in time and frequency domains. The results show that the greatest potential is for improving road holding properties. This effect could not have been observed in previous studies based on a 1-DOF vehicle model. It is also demonstrated that the presence of preview drastically reduces power requirements, thus relieving the performance versus actuator power dilemma. 相似文献
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Huei Peng Weibin Zhang Masayoshi Tomizuka Steven Shladover 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1994,23(1):259-278
The architecture of the PATH vehicle lateral control system is presented in this paper. The two main modules are an intelligent reference/sensing system, and an Frequency-Shaped-Linear-Quadratic/preview control algorithm. The whole lateral control system was formerly evaluated on a two-door test vehicle. It was transplanted to a four-door vehicle which is considerably different from the older two-door test vehicle in dynamic characteristics. The objective of this study is to investigate the reusability of our control system. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(1):167-195
SUMMARY The problem of linear preview control of vehicle suspension is considered as a continuous time stochastic optimal control problem. In the proposed approach minimal a priori information about the road irregularities is assumed and measurement errors are taken into account. It is shown that estimation and control issues can be decoupled. The problem formulation and the analytical solution are given in a general form and hence they apply to other problems in which the system disturbances are unknown a priori, even in a stochastic sense, but some preview information is possible. The solution is applied to a two-degree-of-freedom (2-DOF) vehicle model. The effects of preview information on ride comfort, road holding, working space of the suspension and power requirements are examined in time and frequency domains. The results show that the greatest potential is for improving road holding properties. This effect could not have been observed in previous studies based on a 1-DOF vehicle model. It is also demonstrated that the presence of preview drastically reduces power requirements, thus relieving the performance versus actuator power dilemma. 相似文献