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四輪轉(zhuǎn)向車輛后輪轉(zhuǎn)角與橫擺力矩聯(lián)合模糊控制
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山東省自然科學基金資助項目(Q2006F06)


Yaw Moment Fuzzy Control of Four-wheel-steering Vehicle Based on Co-simulation Technology
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    摘要:

    為提高車輛在極限工況下的穩(wěn)定性,，充分考慮懸架、轉(zhuǎn)向系統(tǒng)以及輪胎等部件的非線性，運用多體動力學仿真分析軟件ADAMS/Car建立了四輪轉(zhuǎn)向車輛的虛擬樣機模型。確定了質(zhì)心側(cè)偏角和橫擺角速度具有理想輸出響應(yīng)的控制目標。針對車輛的非線性,，提出了后輪轉(zhuǎn)角與橫擺力矩聯(lián)合控制的模糊控制策略，并設(shè)計了對應(yīng)的非線性模糊控制系統(tǒng)。最后應(yīng)用ADAMS/Car和Matlab/Simulink聯(lián)合仿真技術(shù),，對控制系統(tǒng)的性能進行了仿真驗證,。仿真結(jié)果表明：后輪轉(zhuǎn)角與橫擺力矩聯(lián)合模糊控制可有效防止車輛在極限轉(zhuǎn)向工況下發(fā)生側(cè)滑失穩(wěn)。

    Abstract:

    In order to enhance the stability of vehicle in limited driving conditions, a virtual prototype model of four-wheel-steering vehicle which included suspension system, steering system and nonlinear characteristics of tires was established by using ADAMS/Car software. Control objectives of the best performance of side slip angle and yaw rate were settled. Aiming at the nonlinear characteristics of vehicle, an integrated fuzzy control strategy of rear steering angle and yaw moment was proposed, and a nonlinear integrated fuzzy control system was designed. Adopted the co-simulation method of ADAMS/Car and Matlab/Simulink, various simulations in limited driving conditions were carried out and the performance of the designed control system was tested. The simulation results showed that the integrated fuzzy control of rear steering angle and yaw moment could effectively avoid the instability of vehicle during critical steering process.

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王樹鳳,李華師.四輪轉(zhuǎn)向車輛后輪轉(zhuǎn)角與橫擺力矩聯(lián)合模糊控制[J].農(nóng)業(yè)機械學報,2011,42(5):14-19. Wang Shufeng, Li Huashi. Yaw Moment Fuzzy Control of Four-wheel-steering Vehicle Based on Co-simulation Technology[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(5):14-19.

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