窄体通勤车防侧翻主动控制技术研究

Research on Active Control Technology of Narrow Commuter against Rollover

窄体通勤车体积小车身窄,为提高其侧倾稳定性,基于两前轮一后轮的Tadpole结构布局方式,提出一种前轮相对车身位置可变的车辆模型,并针对此模型提出了相应的防侧翻控制方案。通过动力学建模与分析,得到前轮受力情况,确定了前轮的运动轨迹。通过对多目标粒子群算法的改进与应用,寻找到两前轮轮心位移的协调动作方案。针对该新型车辆提出了新的评价指标,以表征防侧翻控制的要求。最后,对所得方案进行了数值仿真实验,实验结果表明,采用该控制方案的车辆,三个轮子所受支持力的均衡性有显著改善,侧倾稳定性有了极大提高,可以承受更大的行驶速度,更小的转弯半径,另外对抗外界干扰的能力有较大增强。为下一步开展窄体通勤车智能控制研究奠定了理论基础。

The small body of the commuter vehicle is narrow. In order to improve its roll stability,a vehicle model with variable position of front wheels relative to the body is proposed,based on the Tadpole structure layout which has two front wheels and one rear wheel. And for this model,the corresponding anti-roll-over control scheme is proposed. Through dynamic modeling and analysis,the force condition of the front wheels is obtained,and the motion trajectory of the front wheels is determined. Through the improvement and application of Multi-objective Particle Swarm Optimization,a coordinated action scheme for the center displacement of the two front wheels is found. A new evaluating indicator is proposed for the new vehicle to deliver the requirements of antiroll-over control. Finally,the numerical simulation experiments of the resulting scheme are carried out. The experimental results show that the equilibrium of the supporting force of the three wheels has been significantly improved in the vehicles with the optimal control strategy,and the lateral stability has been greatly improved,so that the driving speed can be sustained,the smaller turning radius,and the ability to resist external interference is greatly enhanced. It lays the theoretical foundation for the next step to carry out the research on intelligent control of commuter vehicles.