多轴转向车辆动态转向控制策略研究

Research on Dynamic Steering Control Strategy of Multi-steering Vehicle

为了提高多轴转向车辆的转向安全性和操纵稳定性,对基于零侧偏角比例控制策略的多轴转向车辆的普适动力学模型进行了推导,并利用ADAMS/View和Easy5软件建立了三轴转向车辆的机电液一体化联合仿真模型。仿真分析了不同工况下,各轴转向油缸受力的变化规律、车轮转角的变化规律、质心侧向加速度和横摆角速度的变化规律等。最后,针对质心零侧偏角比例控制的缺点,提出了一种系数改进法,该方法对提高多轴转向车辆高速的灵活性和稳定性具有重要的意义。

To improve handling and stability of multi-steering vehicle, the general dynamic mathematical model of multi-axle vehicle was deducted based on zero sideslip angle proportional control of centre mass. The mechanic-electric-hydraulic integrated co-simulation model of three-axle steering vehicle was built by using ADAMS/View and Easy5 software. Under different working condition, the steering cylinder force law and wheel angle law were analyzed, and the lateral acceleration and yaw velocity law were also been done. Finally, a new coefficient method was put forward according to the fault of zero sideslip angle proportional control of centre mass. The method will be of advantage to improve the agility and maneuvering stability of multi-axle steering vehicle at high speed.