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在测试并联型混合动力牵引车侧向稳定性时,车辆加速情况下,车辆质心侧偏角及横摆角速度易发生变化,导致传统单一控制稳定性差。文中以并联型混合动力汽车为探究目标,通过联合控制策略对车辆侧向稳定性进行分析。通过构建车辆四自由度数学模型,分析混合动力牵引车力学特性,以车辆HSRI轮胎模型为基础构建车轮二自由度双轨模型,对车辆侧向稳定控制进行分析,在考虑车辆加速不稳定状态情况下,通过控制车辆横摆角速度及质心侧偏角两个变量,实现联合控制策略,对车辆轨迹及动力进行控制以完成车辆侧向稳定性分析。实验证明,通过运用联合控制策略可实现对车辆的侧向稳定控制。 相似文献
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在多刚体动力学软件adams中建立了整车模型,分析了在刚性后桥、集中弹性后桥和柔性后桥的条件下对车辆操纵稳定性的影响,得到了在考虑后桥弹性的条件下车辆更加趋于不足转向特性的结论,且仿真试验的结果更趋近于试验数据。 相似文献
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汽车的转向系统的性能是汽车的主要性能之一,转向系统的性能直接影响到汽车的操纵稳定性,它对于确保车辆的安全行驶、减少交通事故以及保护驾驶员的人身安全、改善驾驶员的工作条件起着重要的作用。 相似文献
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转向系统的性能是汽车放入主要性能之一,系统的性能直接影响到汽车的操纵稳定性,它对于确保车辆的安全行驶、减少交通事故以及驾驶员的人身安全、改善驾驶员的工作条件起重要作用。在车辆高速化、驾驶人员非职业化、车流密集化的今天,针对更多不同水平的驾驶人群,汽车的易操纵性显得尤为重要。本文介绍了转向系统的结构原理,出了转向系统常见故障和相关诊断排除方法。 相似文献
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自从我国实行改革开放政策以来,国家整体经济建设和科技水平得到显著提高。对于我国汽车制造业中,过去原有传统的机械式转向系统由于功能上的不足,已经逐渐被动力转向系统所代替。对于动力转向系统,解决了手动操作的繁琐,通过动力实现车辆整体方向的操纵,很大程度上减轻了驾驶者的疲劳感,整体提高了车辆在行驶过程中的方便性和稳定性。本文通过对动力转向系统的结构、工作原理进行简单分析,找出解决汽车使用过程中转向系统常见问题的有效维修措施,从而确保车辆正常运行,保障驾驶者生命安全,整体提高车辆的使用安全性。 相似文献
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为了保证汽车直线行驶的稳定性，转向轻便性和减少轮胎和机件的磨损，在汽车的转向轮上设计有车轮定位，它包括主销后倾、主销内倾、前轮外倾和前轮前束。早期汽车的前轮定价中只有前轮前束可以调整，其它则设计成不可调式。现在随着各种新结构的不断应用，不仅前桥采用了独立悬架，而且后桥大部分也采用了独立悬架以及后轮定位。为进一步提高汽车操纵稳定性和降低轮胎与机件的磨损，四轮定位的检测与调整显得日益重要。本文仅就四轮定位的调整谈谈现代轿车中常采用的方法。 相似文献
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汽车操纵稳定性是汽车的重要性能之一,然而多数关于汽车操纵稳定性的仿真都是基于汽车开路系统的仿真,如何将驾驶员的意识反馈到汽车的操纵特性上,形成人—汽车闭路系统的仿真还很少涉及。根据多体动力学理论基础,应用多体系统动力学仿真分析软件SIMPACK建立了汽车的整车模型,将驾驶员前方预描距离作为控制参数输入到转向操纵系统中,进而形成人—汽车闭路系统的仿真。最后将有预描距离和无预描距离作比较,得出驾驶员视野前方的预描距离对汽车的操纵稳定性起着很大的影响。 相似文献
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《Journal of The Franklin Institute》2018,355(18):9271-9297
This paper presents a robust gain-scheduled output feedback yaw stability H∞ controller design to improve vehicle yaw stability and handling performance for in-wheel-motor-driven electric vehicles. The main control objective is to track the desired yaw references by managing the external yaw moment. Since vehicle lateral states are difficult to obtain, the state feedback controller normally requires vehicle full-state feedback is a critical challenge for vehicle lateral dynamics control. To deal with the challenge, the robust gain-scheduled output feedback controller design only uses measurements from standard sensors in modern cars as feedback signals. Meanwhile, parameter uncertainties in vehicle lateral dynamics such as tire cornering stiffness and vehicle inertial parameters are considered and handled via the norm-bounded uncertainty, and linear parameter-varying polytope vehicle model with finite vertices is established through reducing conservative. The resulting robust gain-scheduled output feedback yaw stability controller is finally designed, and solved in term of a set of linear matrix inequalities. Simulations for single lane and double lane change maneuvers are implemented to verify the effectiveness of developed approach with a high-fidelity, CarSim®, full-vehicle model. It is confirmed from the results that the proposed controller can effectively preserve vehicle yaw stability and lateral handling performance. 相似文献
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《Journal of The Franklin Institute》2018,355(18):9321-9350
This paper simultaneously addresses the parameter/state uncertainties, external disturbances, input saturations, and actuator faults in the handling and stability control for four-wheel independently actuated (FWIA) electric ground vehicles (EGVs). Considering the high cost of the available sensors for vehicle lateral velocity measurement, a robust H∞ dynamic output-feedback controller is designed to control the vehicle motion without using the lateral velocity information. The investigated parameter/state uncertainties include the tire cornering stiffness, vehicle mass, and vehicle longitudinal velocity. The unmodeled terms in the vehicle lateral dynamics model are dealt as the external disturbances. Faults of the active steering system and in-wheel motors can cause dangerous consequences for driving, and are considered in the control design. Input saturation issues for the tire forces can deteriorate the control effects, and are handled by the proposed strategy. Integrated control with active front steering (AFS) and direct yaw moment (DYC) is adopted to control the vehicle yaw rate and sideslip angle simultaneously. Simulation results based on a high-fidelity and full-car model via CarSim-Simulink show the effectiveness of the proposed control approach. 相似文献
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《Journal of The Franklin Institute》2023,360(13):9663-9688
A novel hierarchical coordination control strategy (HCCS) is offered to guarantee the stability of four-wheel drive electric vehicles (4WD-EVs) combining the Unscented Kalman filter (UKF). First, a dynamics model of the 4WD-EVs is established, and the UKF-based estimator of sideslip angle and yaw rate is constructed concurrently. Second, the equivalent cornering stiffness coefficients are jointly estimated to consider the impact of vehicle uncertainty parameters on the estimator design. Afterwards, a HCCS with two-level controller is presented. The sideslip angle and yaw rate are controlled by an adaptive backstepping-based yaw moment controller, and the computational burden is relieved by an improved adaptive neural dynamic surface control technology in the upper-level controller. Simultaneously, the optimal torque distribution controller of hub motors is developed to optimize the adhesion utilization ratio of tire in the lower-level controller. Finally, the proposed HCCS has shown effective improvement in the trajectory tracking capability and yaw stability of the 4WD-EVs under various maneuver conditions compared with the traditional Luenberger observer-based and the federal-cubature Kalman filter-based hierarchical controller. 相似文献
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A global state feedback tracking controller for a class of vehicles, namely marine vehicles, hovercrafts and indoor airships is considered in this paper. The control algorithm uses a velocity transformation of the vehicle equations of motion. It is shown that this algorithm is suitable for control of fully actuated systems and leads to fast response. This property arises from the fact that the dynamical couplings in the vehicle are taken into account in the control gain matrix. A Lyapunov-like function is proposed for the stability analysis of the system under the controller. The algorithms robustness issue is considered too. Numerical simulations are given to illustrate effectiveness of the approach. 相似文献
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基于多体动力学理论,通过ADAMS/CAR建立双横臂悬架的仿真模型。采用DOE试验设计方法对悬架模型进行优化,判断对悬架KC特性影响较大的关键硬点。结合NSGA-Ⅱ遗传算法,利用ADAMS-ISIGHT联合仿真对硬点进行多目标优化,获得关键硬点的pareto最优解集。通过验证,结果表明,优化后的双横臂悬架在车轮跳动过程中,车轮前束角、外倾角和轮距变化范围更小,有利于减少轮胎磨损,提高汽车操纵稳定性。 相似文献
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为了研究车辆在桥面上行驰过程中突然刹车对桥梁产生的冲击振动的影响,考虑了车轮处的摩擦力与刹车制动力共同作用时移动质量模型对车桥的耦合振动现象进行数值模拟。对于工程中常用的变截面箱梁,推导了平面内呈线性和抛物线形变化时的质量阵,采用Romberg数值积分方法得到刚度矩阵中的系数项。对于变速行驰在桥面上的车辆出现紧急刹车的现象,考虑了车轮与桥面间的摩擦并引入冲击系数模拟刹车力对桥面的作用,探讨了摩擦系数与冲击系数对车桥耦合振动的影响。 相似文献
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《Journal of The Franklin Institute》2022,359(12):6123-6141
We study the stabilization problem of a platoon of Adaptive Cruise Control (ACC) vehicles in the presence of input-delay. We use a dynamic predictor for input-delay compensation, a filtered version of the standard finite spectrum assignment method that overcomes robustness issues, in particular those raised by the approximation of distributed time-delay terms. Each vehicle must achieve the velocity of the preceding vehicle while ensuring a safe inter-vehicular distance established by a time headway-based spacing policy. To this end, a proportional-integral type controller combined with a dynamic predictor is added to each vehicle in the platoon that guarantees stability and zero steady-state error. String stability property of the closed-loop system, i.e., the platoon’s ability to attenuate fluctuations arising in the motion of the leading vehicle, is analyzed using a frequency domain framework. The effectiveness of the proposed control scheme is illustrated with simulation results of a platoon of five vehicles. 相似文献
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《Journal of The Franklin Institute》2022,359(12):5960-5990
This paper proposes a fuzzy non-fragile finite frequency H∞ control algorithm for the active suspension system (ASS) of the electric vehicles driven by in-wheel motors with an advanced dynamic vibration absorber (DVA). Firstly, an interval type-2 Takagi-Sugeno (T-S) fuzzy model is established to formulate the nonlinear time-delay ASS with the uncertainties of sprung mass, unsprung mass, suspension stiffness, and tire stiffness. Secondly, a differential evolution (DE) algorithm is adopted to optimize the parameters of vehicle suspension and DVA. Thirdly, a non-fragile finite frequency H∞ control controller is developed under the consideration of controller perturbation and input delay to improve the comprehensive performance of the chassis under the finite frequency external disturbances. Finally, simulation tests are carried out to verify the effectiveness of the proposed controller. 相似文献
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Bohan Zhang Shaobo Lu Wenjuan Wu Caixia Li Jiafeng Lu 《Journal of The Franklin Institute》2021,358(11):5883-5908
A robust fault-tolerant control scheme for distributed actuated electric vehicles is proposed to maintain vehicle stability suffering actuator faults while considering the driver personality differences. The proposed scheme integrates the cooperative game and terminal sliding mode control into the framework of the feedback linearization method (FLM). Firstly, the nonlinearities of the driver-vehicle system are treated by the knowledge of Lie derivative, and then a set of controllable virtual subsystems is obtained through diffeomorphism. To achieve multi-objective cooperation, the interaction framework of virtual subsystems is modeled based on cooperative game theory, which provides a basic feedback control scheme (BFCS). Finally, a terminal sliding mode technology-based active compensation control scheme is integrated into BFCS to handle the systemic disturbances caused by actuator faults. An implementation of hardware-in-the-loop verifies that the stability of the vehicle under the control of the developed approach can be guaranteed for different drivers and different fault types. 相似文献
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中国新能源汽车尤其是电动汽车的快速发展引致铜资源需求快速增长,资源需求和产业链风险不断增大,亟需通过有效的循环利用策略降低对原生资源的需求压力,提升新能源汽车产业链的弹性和可持续性。本文基于中国新能源汽车发展规划,构建了铜资源—零部件—新能源汽车的分层级动态物质流模型,评估循环利用策略有效性,分析中国新能源汽车发展对铜资源的影响。研究表明：①新能源汽车中纯电动汽车是实现铜循环利用的主力,再生铜资源对资源供给总量的乘数效应逐渐显现;②电机和电池是实现新能源汽车中铜资源循环利用的关键零部件,再生铜循环利用水平不断提升;③实施单一循环利用策略的有效性有限,需要通过执行复合策略,在减少原生铜消费的同时,增加再生铜供给,降低铜废料产出。为了发挥再生资源正外部性对资源可持续发展的促进作用,推动原生铜消费与资源需求总量脱钩,需要铜产业、新能源汽车产业、报废汽车回收拆解产业、消费者及政府之间的多主体协同合作,推动中国新能源汽车中铜资源循环利用策略的有效实现。 相似文献