基于独立脉冲转向系统车辆稳定性控制

Research on Vehicle Stability Control Based on Independent Pulsed Steering

为了提高车辆操纵稳定性,本文集成独立转向和主动脉冲转向提出了一种主动后轮独立脉冲转向(ARIPS)控制策略,并对此进行理论分析和试验研究.通过建立ARIPS系统仿真动力学模型,研究此系统的运行对悬架性能的影响并分析不同转向脉冲控制参数对车辆稳定性的影响.依据仿真分析和频率分析方法确定最优脉冲参数.设计ARIPS控制器及脉冲转角分配模块,基于CarSim和Simulink进行联合仿真分析,验证ARIPS的控制性能.研制并安装主动脉冲转向系统,基于试验Lexus车辆进行整车试验研究,验证ARIPS系统的实用性.仿真和试验结果表明:验证了ARIPS系统的可行性和经济性,ARIPS控制能有效提高车辆的操纵稳定性,比主动后轮转向(ARS)和主动后轮脉冲转向(ARPS)具有更好的控制效果,对改进四轮转向(4WS)系统的性能提供了一个新的研究方向和试验基础.

In order to improve the vehicle handling stability, an active rear independent pulse steering system（ARIPS） which integrates independent steering and active pulse steering was proposed, and theoretical analysis and experiment study were carried out. The simulation dynamics model equipped with ARIPS system was established to analyze the effects of installation and operation of pulse actuator on the suspension performance. The optimal pulse parameters were determined according to the simulation analysis and frequency analysis method. A control structure and algorithm were designed and a full vehicle model e- quipped with the steering actuator was built in Carsim and co-simulated with Simulink to verify the pro- posed system. A hydraulic steering system was designed and assembled for a Lexus to carry out road experiments to assess the applicability of the ARIPS system. Simulation and test results obtained have shown that the proposed system has better performance in terms of improving vehicle handling stability compared with ARS and ARPS system. Meanwhile, the proposed system is economical and feasible, providing a new research space and experimental basis to improve the performance of 4WS system.