Optimal Control of Active Front Wheel Steering for Vehicles Under Perturbation of Crosswind
-
摘要: 侧向风对汽车行驶操纵稳定性有重要影响.通过分析侧向风干扰下车辆稳定性,提出基于主动前轮转向(active front wheel steering,AFS)的控制策略.AFS控制器采用线性二次型最优控制算法,以实现横摆角速度和质心侧偏角目标值跟踪.为了评价控制算法,基于MATLAB/Simulink和CarSim协同仿真环境建立整车动力学模型、单点预瞄驾驶员模型、控制器模型、道路和侧向风模型.仿真结果表明,AFS可有效提高车辆在侧向风干扰下的操纵稳定性,且控制算法对车速和路面附着系数具有良好的鲁棒性.
-
关键词:
- 侧向风 /
- 主动前轮转向 /
- 线性二次型最优控制器
Abstract: Crosswind has substantial influence on the handling and stability of vehicles.Based on the analysis of vehicle stability under perturbation of crosswind,a control strategy for active front wheel steering(AFS) is proposed.The controller was designed using linear quadratic optimal control algorithm with the aim of tracking the target values of yaw rate and side slip angle.Based on the co-simulation platform of MATLAB/Simulink and CarSim,vehicle dynamics model,single-point preview driver model,controller model,and road and crosswind models were built to evaluate the control algorithm.Simulation results show that AFS can effectively improve vehicle handling and stability under crosswind,and has good robustness against variation of vehicle speed and tire/road friction coefficient. -
-
[1] BOADA B L,BOADA M J L,DíAZ V.Yaw momentcontrol for vehicle stability in a crosswind[J].Int JVehicle Design,2005,39(4):331-348.
[2] MARUYAMA Y,YAMAZAKI F.Driving simulatorexperiment on the moving stability of an automobile understrong crosswind[J].Journal of Wind Engineering andIndustrial Aerodynamics,2006,94(4):191-205.
[3] BRAGHIN F,CHELI F,CORRADI R,et al.Active anti-rollover system for heavy-duty road vehicles[J].VehicleSystem Dynamics,2008,46(supp):653-668.
[4] ALFI S,BRUNI S,DIANA G,et al.Active control ofairspring secondary suspension to improve ride quality andsafety against crosswinds[J].Journal of Rail and RapidTransit,2010,225(1):84-98.
[5] 谷正气,周宇奎,海贵春,等.主动四轮转向系统对高速汽车侧风稳定性的控制研究[J].湖南大学学报:自然科学版,2006,33(1):51-54.GU Zheng-qi,ZHOU Yu-kui,HAI Gui-chun,et al.Control research on high-speed vehicle stability under sidewind using active 4WS[J].Journal of Hunan University:Natural Sciences Edition,2006,33(1):51-54.(inChinese) [6] 李强,施国标,林逸,等.主动前轮转向控制技术研究现状与展望[J].汽车工程,2009,31(7):629-633.LI Qiang,SHI Guo-biao,LIN Yi,et al.Status quo andprospect of the research on active front steering controltechnology[J].Automotive Engineering,2009,31(7):629-633.(in Chinese) [7] MAMMAR S,KOENING D.Vehicle handlingimprovement by active steering[J].Vehicle SystemDynamics,2002,38(3):212-242.
[8] KOEHN P,ECKRICH M.Active steering-the BMWapproach towards modern steering technology[C]//SAE2004 World Congress & Exhibition.Detroit:SAETechnical Paper,2004-01-1105.
[9] 谷正气.汽车空气动力学[M].北京:人民交通出版社,2005:56-78. [10] KLASSCN J.A generalised crosswing model for vehiclesimulation purpose[J].Vehicle System Dynamics,2002,37(supp):350-359.
[11] 丁能根,余贵珍.汽车动力学及其控制[M].哈尔滨:哈尔滨工程大学出版社,2009:211-214. [12] ORABY W A H,EL-DEMERDASH S M,SELIM A M,et al.Improvement of vehicle lateral dynamics by activefront steering control[C]//Proceedings of the 2004 SAEAutomotive Dynamics,Stability & Controls Conferenceand Exhibition.Detroit:SAE Technical Paper,2004-01-2081:386-398.
[13] 余志生.汽车理论[M].北京:机械工程出版社,2008:133-134.
计量
- 文章访问数: 14
- HTML全文浏览量: 4
- PDF下载量: 8
下载:
