摘要
通过对汽车行驶状态的分析,分别在Simulink和CarSim中建立理想二自由度四轮转向汽车模型和整车模型。在Simulink中建立控制策略,以前轮转角比例控制的方式控制后轮转角;以车辆质心侧偏角和横摆角速度作为控制量,基于模糊控制理论,计算出所需附加横摆力矩,通过所设计的分配策略确定施加在前后车轮的制动力矩。利用CarSim和Simulink搭建联合仿真平台,进行低速角阶跃实验和高速单移线实验,并与前轮转向和其他控制策略下的仿真结果对比分析。仿真结果表明,所设计的控制策略使汽车的质心侧偏角和横摆角速度始终保持在理想值的附近,提高了汽车的灵活性和稳定性。
Through the analysis of the driving status of the car,the ideal two-degree-of-freedom four-wheel steering car model and the whole car model are established in Simulink and CarSim respectively.Establish a control strategy in Simulink to control the rear wheel angle in the manner of front wheel angle proportional control;take the vehicle mass center side slip angle and yaw rate as the control variables,based on the fuzzy control theory,calculate the required additional yaw moment,through the design The distribution strategy determines the braking torque applied to the front and rear wheels.CarSim and Simulink were used to build a joint simulation platform for low-speed angular step experiment and high-speed single-shift experiment,and compared with the simulation results of front wheel steering and other control strategies.The simulation results show that the designed control strategy keeps the car’s center-of-mass lateral angle and yaw rate at near ideal values,which improves the car′s flexibility and stability.
作者
吴磊
王琪
张鹏
WU Lei;WANG Qi;ZHANG Peng(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Shanxi Taiyuan 030024,China)
出处
《机械设计与制造》
北大核心
2023年第2期32-36,共5页
Machinery Design & Manufacture
基金
山西省应用基础研究计划项目(201801D221228)。
