单轨车辆驾驶员单点预瞄模型的参数优化

Construction of Rider-Motorcycle Model and Its Parameter Optimization

使用ADAMS软件建立摩托车的模型,并利用MATLAB软件建立驾驶员模型,构成驾驶员-车辆模型。采用MATLAB和ADAMS协同仿真,得出单移线和双移线工况实际行驶轨迹和手把力矩、侧倾力矩、转向角、侧倾角、横向加速度等。建立了摩托车移线工况的性能综合评价指标,并用此指标对摩托车在不同运动状况下的性能进行评价。以驾驶员模型反馈系数为设计变量,采用正交设计方法优选出一组参数。

First, a motorcycle model is set up with ADAMS software; Based on ＇single-point preview optimal curvature＇ model and taking rider＇s response lag into account, a rider model is built in MATLAB. Then a ridermotorcycle closed-loop model is formed and co-simulated with ADAMS and MATLAB. And the evaluation indices of path tracking error, rider＇s handling burden and slip-down risk as well as the comprehensive objective evaluation index for active safety of the motorcycle are defined. Finally by employing orthogonal design method, 6 parameters in PD control model are optimized, so a set of optimum parameters are obtained respectively for each of the different moving conditions （single and double lane changes and constant radius cornering） of motorcycle with different preset speeds, rider＇s preview times and response lags.