【作者】 刘宏飞；

【导师】 许洪国；

【作者基本信息】 吉林大学 ， 载运工具运用工程， 2005， 博士

【摘要】 汽车列车是经济、方便、快捷的运输工具。汽车列车高速行驶时的横向振子运动是汽车列车行驶稳定性及主动安全性的重要内容。为了深入研究汽车列车横向摆振产生机理,本文应用车辆动力学原理,对列车系统进行了动力学和运动学分析,建立了汽车列车横向稳定性数学模型,进而探索了汽车列车使用参数和结构参数对其行驶稳定性的影响,并进行了参数优化分析。结合横向摆振实际问题的特点和要求,本文提出了采用半主动控制来改善横向稳定性的控制策略。该控制方式具有易于实现、便于操作的特点。通过计算机仿真,证明了该方法能够快速、有效地衰减横摆振幅,并使之快速趋于稳态。运输重载化、列车化在提高经济效益的同时,也对机动性提出了更高要求。本文在分析国内外对汽车列车轨迹跟踪问题研究成果的同时,对汽车列车倒车轨迹跟踪控制策略进行了研究,建立了汽车列车运动的非线性模型,并通过坐标变换使之线性化;构建了汽车列车轨迹跟踪控制器,并对汽车列车轨迹跟踪控制策略进行仿真验证。本文采用模型试验与计算机仿真相结合的办法,验证了数学模型的模型行为和试验行为具有很好的一致性。本文采用RS-485 串行通讯实现对电机的变频调速,从而模拟实际车况下的各种车速变化,以遥控操作完成模拟路面上的“蛇行”工况和“惰行”工况试验。并进行了模型车在不同车速、不同结构参数和使用参数下的一系列模拟试验,阐明了产生横向摆振的原因和规律,以期为汽车列车的设计和使用提供有益的参考。更多还原

【Abstract】 The movement of high-speed landscape orientation jarring is the main research of the handling-stability of the Tractor-Trailer. The horizontal wave of the trailer not only increased the driving requirement of the automobile according to the road width, but also brought out the hidden trouble .It has academic meaning and practical value to study the horizontal stability and maneuverability of the automobile, it can enhance the initiative security. Based on the analyses of international scholar and technologist’s research, with the techniques of Tractor system dynamics and computer simulation as well as the integration of models and experiments, the paper provides the new method and means for the research of the landscape orientation jarring. With the analytical method of parameters, influence for Tractor-Trailer’s structural and motorial parameters on landscape orientation jarring is quantitatively analyzed. The research mainly includes the following aspects. ①Applied with the Tractor dynamics principle, the mathematical model of Tractor-Trailer’s single rail, dual mass center horizontal stability of is established by dynamic and kinematic analyses on landscape orientation jarring principle from some main parameters and freedom degrees. In order to analyze the Tractor-Trailer’s state steer, it does not only extend the mathematical model of single rail, dual mass center, but also discuss the steady-factor’influence about steering. At the meanwhile the Tractor-Trailer’s dynamics model of several parts is discussed. In this model the aerodynamics and dot-damp is taken into accounts, which influence the Tractor system dynamics. ②The paper firstly presents about the nonlinear closed-loop stability on straight driving of tractor-trailer Train. The former researches were almost emphasis on driver’s model and the common Tractor , which adopted the lined-model. Treated the single-dot pre-aim drivers and semi-trailer coupled rigid and elastic system as objects ,the paper presents the semi-initiative control model, and research swinging equation root tract trait and unsteady curve. ③The research partly focuses on the design of the controller of Tractor-Trailer locus tail. Through the coordinate-switched, the movement of Tractor-Trailer from nonlinear to linearity is transformed; Design the controller of Tractor-Trailer locus tail and then simulate it. ④To remedy the localization and blindness of single research method, and to make them more validate and complementarity with each other, the study attempts to use the simulation of similar model with dynamics Tractor-Trailer model and computer simulation. The similitude model-test can accomplish the multifarious molestationves in road and wind, the shift、snake、steady circle-tests and multifarious steps tests. With the characteristics of high-simulation 、credibility and continuance, this paper o ffers a new thinking and test-way for the study of Tractor-Trailer. ⑤This paper ameliorated the test-system of road surface simulation: designed、installed、debugged test-system(diversified sensors and magnify circuits; A/D, D\A interface I/O interface circuit); designed、tested the controlling-system road surface simulation, the theory of frequency conversion timing, the step less timing of transducer, and used the interface of frequency conversion RS485/232 to realize the long-distance control of computer; It utilized the theory of computer-vision and the measure of high-speed shoot to realize the movement parameter supple mentary test of outside sensor. And used theprogrammed to test and control the UI. ⑥According to the result of simulated-testing and artificial calculating, modify the calculate-model and the examining project, optimize the design of parameter, construct the orthogonal table, quantitatively analyze the influence of structural parameter of the Tractor-Trailer and movement parameter on landscape orientation liberation, optimize the structure of Tractor-Trailer, and then quantities the influence.更多还原