【作者】 赵维正； 芦大佑； 王达； 张智煊； 李佳根； 韩沛桐； 吴林阳； 蓝鑫； 朱涵丰；

【Author】 Zhao Weizheng;Lu Dayou;Wang Da;Zhang Zhixuan;Li Jiagen;Han Peitong;Wu Linyang;Lan Xin;Zhu Hanfeng;College of Automotive Engineering,JLU;College of Biological and Agricultural Engineering,JLU;College of Instrumentation & Electrical Engineering,JLU;

【机构】 吉林大学汽车工程学院； 吉林大学生物与农业工程学院； 吉林大学仪器科学与电气工程学院；

【摘要】 针对大学生方程式赛事中赛车横摆角加速度与车手预期存在较大差异的现象,本文提出了一种主动横摆力矩控制(AYC)策略,对单一车轮独立施加制动力,建立额外的整车横摆力矩,使得横摆角加速度变化更贴近车手预期,以提升赛车可控性和姿态稳定性。同时也在一定程度上改善了长轴距赛车由于转动惯量增大而产生的横摆响应缓慢的问题。将该控制策略应用于现有大学生方程式赛车,通过赛道实验发现开启AYC功能后八字环绕与高速避障赛道的成绩分别提升0.2s和3.3s。更多还原

【Abstract】 In view of the large difference between the yaw angular acceleration of the car and the driver’s expectation in Formula Student events,an active yaw torque control (AYC) strategy is proposed.The braking force is applied independently to the individual wheels to establish an additional yaw moment of the vehicle,so that the yaw angle acceleration changes more closely to the driver’s expectations,so as to improve the car’s controllability and attitude stability.At the same time,it also improves the slow yaw response caused by the increase of moment of inertia in long-wheelbase racing cars to a certain extent.The control strategy is applied to the existing Formula Student car,and it is found that the results of the figure-of-eight circle and high-speed obstacle avoidance track are increased by0.2s and 3.3s respectively after the AYC function is turned on.更多还原