【作者】 宋正华；

【导师】 陈南；

【作者基本信息】 东南大学 ， 车辆工程， 2005， 硕士

【摘要】 四轮转向(4WS-Four Wheel Steering)和车辆稳定性控制(VSC-Vehicle Stability Control)是两种新型的主动安全控制技术,是主动底盘控制技术的重要组成部分,它们的有机结合将会改善和提高车辆的机动灵活性能、操纵性能和稳定性能,对于预防事故的发生有着非常重要的意义。本文基于虚拟样机技术,研究了四轮转向系统和车辆稳定性控制系统的动力学响应。此外,进行了基于dSPACE系统和车辆实车平台的4WS系统的硬件在环仿真的研究。全文包括以下几个方面的内容:1.介绍四轮转向系统及车辆稳定性控制系统的研究现状,以及工作原理和特点。2.介绍了多体动力学的研究方法以及ADAMS和MATLAB/Simulink软件的联合仿真分析方法。3.推导了二自由度的4WS和4WS+VSC车辆系统的动力学数学模型。在车辆数学模型的基础上,利用最优控制理论的线性二次型最优控制方法,以横摆角速度和质心侧偏角作为控制变量,推导出了最优线性反馈系数K ,绘制了控制框图。4.参照试验台整车模型,在ADAMS/View中建立了整车系统的虚拟样机模型,在MATLAB/Simulink中建构了控制系统的仿真框图,并通过ADAMS与MATLAB联合仿真技术实现了多体动力学系统与控制系统闭环控制的协同仿真。5.通过协同仿真比较了车辆虚拟模型在不同控制算法、不同的控制器参数对整车系统操纵稳定性能的影响。另外,还比较了车辆在最优控制算法下,不同车辆结构参数对整车操纵稳定性能的影响。6.基于dSPACE系统和车辆试验台架,进行了车辆的硬件在环仿真。将ADAMS虚拟样机试验仿真同硬件在环仿真相结合,利用硬件在环仿真试验所测得的方向盘转角作为ADAMS中整车虚拟样机的控制输入,并比较了两种试验的动力学响应特性。另外利用硬件在环仿真试验所测得的方向盘转角和后轮转角作为ADAMS中整车虚拟样机的控制输入,近似地模拟了硬件在环仿真中车辆的行驶轨迹。通过协同仿真分析可以看出,四轮转向系统与车辆稳定性控制系统的有机结合,其各评价指标均有了较大幅度改善,能够有效地提高车辆的操纵稳定性。将ADAMS中虚拟样机试验仿真同车辆的硬件在环仿真相结合,可以用ADAMS中的虚拟样机模型近似模拟出硬件在环仿真车辆的行驶状况。更多还原

【Abstract】 Four Wheel Steering (4WS) system and Vehicle Stability Control (VSC) system are newly created control technology for active safety, which are important parts of active chassis control technology. The connection of these two technologies will improve the performance of handling and stability, and has important effect for avoiding traffic. This article makes a research on the dynamic response of 4WS and VSC system based on the Virtual Prototyping Technique. In addition, it has discussed the simulation of hardware in loop system based on dSPACE and real vehicle platform. It mainly contains the following:1. Simply introduce research status, working theory and character of 4WS and VSC.2. Simply introduce research method of multiple-body dynamics, simulation method with software of both ADAMS and MATLAB/Simulink.3. Give mathematical model of 4WS, 4WS with VSC of two freedoms separately. Based on the mathematical model, taking yaw rate and side slip angle as the control variables, use linear quadratic method of optimal control theory to design controller parameter K, then realize to control the vehicle model.4. Referring to the whole vehicle model of experiment platform, build the Virtual Prototyping of the whole vehicle in the surrounding of ADAMS/View, set up the system figure of control system in MATLAB/Simulink, then realize the connecting simulation of multi-body dynamics and closed loop control system.5. Through the simulation compare the effect of handling stability on vehicle virtual model with different control method and controller parameter. In addition. Using optimal control method, compare the effect of handling stability with different vehicle structure parameters.6. Based on dSPACE system and vehicle experiment platform, make the research of hardware in loop simulation and achieve a satisfying control effect. Connecting virtual prototyping simulation and hardware in loop simulation, use steering angle measured in the hardware in loop system as the input of virtual prototyping, and compare the dynamic response in two experiments. In addition, use steering angle and rear wheel angle measured in hardware loop system as the inputs of virtual prototyping model, simulate the driving track in hardware in loop simulation approximatively.Through the connecting simulation, we can see that the system of 4WS plus with VSC can better the evaluation parameters and improve the vehicle handling stability. Through connecting virtual prototyping simulation and hardware in loop simulation, you can use the prototyping model in ADAMS to simulate the driving status of hardware in loop vehicles.更多还原