摘要
提出了一种汽车操纵逆动力学仿真研究方法。基于最优控制理论,以驾驶员对汽车施加的转角输入和驱动力/制动力为控制变量,以最短时间完成双移线过程为控制目标,通过改进的直接多重打靶方法将最优控制问题转化为非线性规划问题之后,运用序列二次规划方法求解。仿真结果表明,该方法能够解决汽车的最速操纵问题,可以比较不同汽车以最短时间完成双移线过程的操纵性能,且计算结果与ADAMS/Car虚拟样机试验结果具有良好的一致性。
A simulation research method for vehicle handling inverse dynamics was proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver were the control variables, the minimum time required to complete the double lane change was the control object. By using the improved direct multiple shooting method , the optimal control problem was converted into a nonlinear programming problem that was then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, can compare the maneuverability of two different vehicles that complete double lane change with the minimum time and the results fit that of ADAMS/Car virtual experiment.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第21期2628-2632,共5页
China Mechanical Engineering
基金
高等学校博士学科点专项科研基金资助项目(20040287004)
关键词
逆动力学
最速操纵
最优控制
仿真
inverse dynamics
minimum time maneuver
optimal control
simulation
