ADSL驾驶模拟器动力学模型的改进与验证

Improvement and validation of ADSL driving simulator dynamic model

为了提高ADSL驾驶模拟器逼真度,研究开发了新版转向系统模型、车轮模型、制动系统模型.转向系统模型为力输入模型并计算了系统的弹性;车轮模型考虑了气胎弹性、接地印迹块动力学和接触模型;制动系统模型采用制动力矩动静摩擦分离的计算方法;从而实现了左右转向车轮协调计算、轮胎力准确计算及stand-still(起步-停车)工况、制动到零速等精确工况的仿真.通过新版模型、2000年版模型的操纵稳定性工况的仿真结果与场地试验结果的对比,验证了模型的正确性,模型精度得到了提高.

In order to improve the fidelity of the ADSL driving simulator,the new steering model,wheel model and braking model are proposed.The force-input steering model considers the system elasticity.The wheel model considers the elasticity of pneumatic tire,dynamics of contact patch and contact model.The break model uses stick-slip friction model.The new model can truly calculate the correspondence of left and right steering wheels and the tire force,and simulate the stand-still,braking and zero speed.By comparing the handling results of new model,2000 model and the field test,the correctness of the model is validated.It is concluded that the precision of the new model is high.