共查询到20条相似文献,搜索用时 15 毫秒
1.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):289-326
A mathematical model for the steering control of an automobile is described. The structure of the model derives from linear optimal discrete time preview control theory but it is non-linear. Its parameter values are obtained by heuristic methods, using insight gained from the linear optimal control theory. The driver model is joined to a vehicle dynamics model and the path tracking performance is demonstrated, using moderate manoeuvring and racing speeds. The model is shown to be capable of excellent path following and to be robust against changes in the vehicle dynamics. Application to the simulation of manoeuvres specified by an ideal vehicle path and further development of the model to formalise the derivation of its parameter values and to put it to other uses are discussed. 相似文献
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Mohamed M. ElMadany Zuhair S. Abduljabbar 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1999,32(6):479-497
This paper presents a method for designing linear multivariable controllers in the frequency-domain for an intelligent controlled suspension system for a quarter-car model. The design methodology uses singular value inequalities and optimal control theory. The vehicle system is augmented with additional dynamics in the form of an integrator to affect the loop shapes of the system. The measurements are assumed to be obtained in a noisy state, and the optimal control gain and the Kalman filter gain are derived using system dynamics and noise statistics. A combination of singular value analysis, eigenvalue analysis, time response, and power spectral densities of random response is used to describe the performance of the active suspension systems. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(6):479-497
This paper presents a method for designing linear multivariable controllers in the frequency-domain for an intelligent controlled suspension system for a quarter-car model. The design methodology uses singular value inequalities and optimal control theory. The vehicle system is augmented with additional dynamics in the form of an integrator to affect the loop shapes of the system. The measurements are assumed to be obtained in a noisy state, and the optimal control gain and the Kalman filter gain are derived using system dynamics and noise statistics. A combination of singular value analysis, eigenvalue analysis, time response, and power spectral densities of random response is used to describe the performance of the active suspension systems. 相似文献
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J. -S. Jo S. -H. You J. Y. Joeng K. I. Lee K. Yi 《International Journal of Automotive Technology》2008,9(5):571-576
The Vehicle stability control system is an active safety system designed to prevent accidents from occurring and to stabilize
dynamic maneuvers of a vehicle by generating an artificial yaw moment using differential brakes. In this paper, in order to
enhance vehicle steerability, lateral stability, and roll stability, each reference yaw rate is designed and combined into
a target yaw rate depending on the driving situation. A yaw rate controller is designed to track the target yaw rate based
on sliding mode control theory. To generate the total yaw moment required from the proposed yaw rate controller, each brake
pressure is properly distributed with effective control wheel decision. Estimators are developed to identify the roll angle
and body sideslip angle of a vehicle based on the simplified roll dynamics model and parameter adaptation approach. The performance
of the proposed vehicle stability control system and estimation algorithms is verified with simulation results and experimental
results. 相似文献
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Adithya Arikere Derong Yang Matthijs Klomp 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2019,57(5):637-664
Collision avoidance at intersections involving a host vehicle turning left across the path of an oncoming vehicle (Left Turn Across Path/Opposite Direction) have been studied in the past, but mostly using simplified interventions and rarely considering the possibility of crossing the intersection ahead of a bullet vehicle. Such a scenario where the driver preference is to avoid a collision by crossing the intersection ahead of a bullet vehicle is considered in this work. The optimal vehicle motion for collision avoidance in this scenario is determined analytically using a particle model within an optimal control framework. The optimal manoeuvres are then verified through numerical optimisations using a two-track vehicle model, where it was seen that the wheel forces followed the analytical global force angle result independently of the other wheels. A Modified Hamiltonian Algorithm controller for collision avoidance that uses the analytical optimal control solution is then implemented and tested in CarMaker simulations using a validated Volvo XC90 vehicle model. Simulation results showed that collision risk can be significantly reduced in this scenario using the proposed controller, and that more benefit can be expected in scenarios that require larger speed changes. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(11):1580-1598
Modelling of vehicle handling dynamics has received a renewed attention in recent years. Different from traditional vehicle modelling, a novel data-driven identification method for vehicle handling dynamics is proposed, which can avoid the problems of the under-modelling and parameter uncertainties in the first-principle modelling process. By first-order Taylor expansion, the nonlinear vehicle system can be linearised as a slowly linear time-varying system with fourth-order. In order to identify the derived identifiable model structure, a recursive subspace method is presented. Derived by optimal version of predictor-based subspace identification (PBSIDopt) and projection approximation subspace tracking (PAST), the identification method is numerical stability and gives an unbiased estimation for the closed-loop system. Based on standard road tests, the proposed modelling method is proven effective and the obtained model has good predictive ability. Additionally, it is noted that the model obtained from the initial phase of straight driving is just a mathematical model to describe the relationship between input and output. And when the vehicle is steering, the model can converge to a stable phase quickly and represent vehicle dynamic performance. 相似文献
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J. Kim 《International Journal of Automotive Technology》2010,11(3):331-337
A methodology is presented for estimating vehicle handling dynamics, which are important to control system design and safety
measures. The methodology, which is based on an extended Kalman filter (EKF), makes it possible to estimate lateral vehicle
states and tire forces on the basis of the results obtained from sinusoidal steering stroke tests that are widely used in
the evaluation of vehicle and tire handling performances. This paper investigates the effect of vehicle-road system models
on the estimation of lateral vehicle dynamics in the EKF. Various vehicle-road system models are considered in this study:
vehicle models (2-DOF, 3-DOF, 4-DOF), tire models (linear, non-linear) and relaxation lengths. Handling tests are performed
with a vehicle equipped with sensors that are widely used by vehicle and tire manufacturers for handling maneuvers. The test
data are then used in the estimation of the EKF and identification of lateral tire model coefficients. The accuracy of the
identified values is validated by comparing the RMS error between experimentally measured states and regenerated states simulated
using the identified coefficients. The results show that the relaxation length of the tire model has a notable impact on the
estimation of lateral vehicle dynamics. 相似文献
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Victor Fors Björn Olofsson Lars Nielsen 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2019,57(8):1206-1223
ABSTRACTStability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new insights and have the potential to be used for future safety systems that adapt the level of braking to the situation at hand, which is demonstrated through examples of how to exploit theresults. 相似文献
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基于ADAMS与Matlab的ABS模糊控制仿真研究 总被引:2,自引:0,他引:2
将多体系统动力学与智能控制理论相结合对汽车制动防抱死控制系统进行了研究,利用ADAMS/CAR建立了汽车整车的多体力学模型,模型包含了前后悬架、动力总成、转向系统、稳定杆、制动系、轮胎力学模型以及车身,同时也考虑了轮胎、衬套、弹簧、减震器等部件的非线性,准确地表达了车辆的动态特性;利用Matlab/Simulink模糊控制工具箱建立了制动防抱死控制系统的模糊控制策略,利用ADAMS/Control接口进行模型的集成、协同仿真,并将仿真结果与另一种控制策略一逻辑门限值控制的仿真结果进行了比较和分析,仿真反映出模糊控制在整车制动防抱死控制系统上的应用效果,结果表明该控制算法稳定好并具有较强的鲁棒性。 相似文献
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E. N. Smith E. Velenis D. Tavernini D. Cao 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2018,56(2):221-248
In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal TV strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using TV against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the OCP is introduced where a closed-loop TV controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle's handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):895-923
The curving performance of a transit rail vehicle model with 21 degrees of freedom is optimized using a combination of multibody dynamics and a genetic algorithm (GA). The design optimization is to search for optimal design variables so that the noise or wear, arising from misalignment of the wheelsets with the track, is reduced to a minimum level during curve negotiations with flange contact forces guiding the rail vehicle. The objective function is a weighted combination of angle of attack on wheelsets and ratios of lateral to vertical forces on wheels. Using the combination of the GA and a multibody dynamics modelling program, A’GEM, the generation of governing equations of motion for complex nonlinear dynamic rail vehicle models and the search for global optimal design variables can be carried out automatically. To demonstrate the feasibility and efficacy of the proposed approach of using the combination of multibody dynamics and GAs, the numerical simulation results of the optimization are offered, the selected objective function is justified, and the sensitivity analysis of different design parameters and different design parameter sets on curving performance is performed. Numerical results show that compared with suspension and inertial parameter sets, the geometric parameter set has the most significant effect on curving performance. 相似文献
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Yuping He John McPhee 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2005,43(12):895-923
The curving performance of a transit rail vehicle model with 21 degrees of freedom is optimized using a combination of multibody dynamics and a genetic algorithm (GA). The design optimization is to search for optimal design variables so that the noise or wear, arising from misalignment of the wheelsets with the track, is reduced to a minimum level during curve negotiations with flange contact forces guiding the rail vehicle. The objective function is a weighted combination of angle of attack on wheelsets and ratios of lateral to vertical forces on wheels. Using the combination of the GA and a multibody dynamics modelling program, A'GEM, the generation of governing equations of motion for complex nonlinear dynamic rail vehicle models and the search for global optimal design variables can be carried out automatically. To demonstrate the feasibility and efficacy of the proposed approach of using the combination of multibody dynamics and GAs, the numerical simulation results of the optimization are offered, the selected objective function is justified, and the sensitivity analysis of different design parameters and different design parameter sets on curving performance is performed. Numerical results show that compared with suspension and inertial parameter sets, the geometric parameter set has the most significant effect on curving performance. 相似文献
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《JSAE Review》1999,20(3):325-329
When an automated vehicle is travelling along a curved path, the yaw rate and yaw angle do not have values of zero. This means that it is impossible to apply a simple regulator that converges the values of all state variables to zero. This paper describes the use of a set point regulator, which applies linear quadratic control theory while shifting the equilibrium point in a situation where the road curvature is given as feed-forward information. It also proposes a control method that enables an automated vehicle to navigate curves without feed-forward information by estimating the road curvature as it proceeds. 相似文献
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本文根据多体动力学理论基础,应用多体系统动力学仿真分析软件SIMPACK建立了汽车的整车模型,将驾驶员前方预描距离作为控制参数输入到转向操纵系统中,进而形成人-车闭路系统的仿真。 相似文献