摘要
在MATLAB中建立包含四轮车辆模型和魔术公式轮胎模型的整车模型,以及包含纵向和横向控制器的驾驶员控制模型,在设定路径下形成一个"人—车—路"闭环控制系统。对不同阻尼下车辆的转角、驱/制动力矩以及车辆侧倾角进行仿真,验证了整车模型的正确性,为整车模型的建模和阻尼值选择提供理论参考。对两种典型道路测试路径下的闭环系统进行仿真分析,结果表明该驾驶员模型可以对不同的路径进行有效跟随,并且存在最佳的预瞄距离与行驶速度的比值。
A vehicle model contains four-wheel vehicle model and magic-formula tire model, and driver control model including longitudinal and lateral controller were established in MATLAB, combined with test roads, driver-ve- hicle-road closed-loop system was built in this paper. Simulation results of steering angle, driving or braking torque and vehicle roll angle under different damping prove the correction of this vehicle model, and provide theoretical ref- erence for vehicle model and damping value choice. The simulation of closed-loop system under two typical road tests in MATLAB shows that the driver control model can effectively follow different paths, and we found the best ratio of preview distance and speed.
出处
《机电一体化》
2016年第10期22-26,共5页
Mechatronics
基金
高等学校学科创新引智计划(B08019)
上海市重点学科建设项目(B303)
