基于转向中心前后位置控制的多轴汽车操纵稳定性研究

Research on Steering Stability of Multi-Axle Vehicles Based on Front and Rear Position Control of Steering Center

为解决多轴汽车高速行驶转向操纵稳定性差的问题,建立了五轴全轮转向汽车的ADAMS-Simulink联合仿真平台,在50-130(km/h)车速范围内,进行了基于D值(汽车转向中心与第1轴的距离)的两种转向试验对比分析:固定D值(Fixed D value,FD)和可变D值的角阶跃输入响应试验。仿真结果表明:采用基于D值的横摆角速度PID控制策略(PID-D)能显著改善多轴汽车的操纵稳定性,车速为100km/h时,在横摆角速度稳态值基本不变的情况下,超调量降低0.08%,收敛时间降低20.4%;质心侧向加速度稳态值降低0.14%;质心侧偏角稳态值降低17.8%,更接近零值。

In view of the problem of poor steering stability of multi-axle vehicles at high speeds, a co-simulation platform for five-axle all-wheel steering vehicle was established using ADAMS-Simulink, doing a comparison analysis of two steering tests based on the D value (distance between the steering center of the vehicle and the first axle): angular step input response experiments of fixed D value and variable D value in the range of 50-130 (km/h) vehicle speeds. Simulation results show that the PID control strategy of yaw rate based on D-value(PID-D) can significantly improve the steering stability of multi-axle vehicles, when the vehicle speed is 100km/h, in the case where the steady state value of the yaw rate is substantially constant, the overshoot is reduced by 0.08% and the decrease of convergence time is 20.4%;the steady state value of the lateral acceleration is decreased by 0.14%;and the steady state value of the sideslip angle is decreased by 17.8%, closer to zero.