重型汽车横摆稳定性的差动制动模糊控制方法.pdfVIP

科技导报2014，32（28/29） 重型汽车横摆稳定性的差动制动模糊重型汽车横摆稳定性的差动制动模糊 控制方法控制方法 1 2 李韶华 ，吴金毅 1.石家庄铁道大学机械工程学院，石家庄050043 2. 北京二七轨道交通装备有限责任公司，北京 100072 摘要摘要 针对重型汽车研究了横摆稳定性差动制动模糊控制方法，以横摆角速度和质心侧偏角为控制目标，利用差动制动产生适 当的横摆力矩，提高车辆的横摆稳定性。根据具体车型建立了重型汽车的虚拟样机整车模型，并利用Matlab/Simulink搭建了差 动制动模糊控制系统，通过ADAMS-Matlab联合仿真分析了不同车速、制动减速度、路面附着系数和转弯半径下的车辆响应。 结果显示，应用差动制动模糊控制方法，在各种工况下均能使车辆的横摆角速度、质心侧偏角和侧向加速度明显减小，且制动减 速度、转弯半径越大控制效果越明显，在低路面附着系数下也能达到明显的控制效果，表明该方法可有效提高重型汽车在转向操 纵下的横摆稳定性。 关键词关键词 重型汽车；横摆稳定性；差动制动；模糊控制 中图分类号中图分类号 U461.6；TP391.9 文献标志码文献标志码 A doidoi 10.3981/j.issn.1000-7857.2014.28/29.013 AFuzzy-logicControllerDesignforHeavyVehicleBasedon Co-simulation LIShaohua,WUJinyi1 2 1.SchoolofMechanicalEngineering,ShijiazhuangTiedaoUniversity,Shijiazhuang050043,China 2.BeijingFebruary7thRailwayTransportationEquipmentCo.,Ltd.,Beijing 100072,China AbstractAbstract Afuzzy-logiccontrollersystemisdesignedforimprovingtheheavyvehiclesyawstabilityinthispaper.Thecontrol objectivesofthissystemaretheyawrateandthebodysideslipangle.Withthedifferentialbraking,acorrectiveyawmomentis generatedtoimprovethevehiclesyawstabilitysignificantly.Avehiclevirtualprototypemodelisestablishedwiththeapplicationof theAdams/Car.AfuzzycontrollerisdesignedfortheyawstabilitycontrolsystemintheMatlab/Simulinkenvironmentandiscombined withthevehiclemode1.Thevehicleresponsesatvariousrunningspeeds,brakedecelerations,roadfrictionalcoefficientsandroad curveradiiareanalyzedbyco-simulations.Theresultsshowthattheproposeddifferentialbrakingfuzzycontrollercanreducetheyaw rate,thebodysideslipangleandthelateralaccelerationnoticeablyandthusimprovethevehiclesyawstabilityeffectively.Withthe increaseofthebrakedecelerationandtheroadcurveradius,thecontroleffectisenhanced.Evenonalowfrictionalcoefficientroad, thecontrollercanalsohaveanexcellentperformanceinreducingthedangerofthevehiclegoingoutofcontrol. KeywordsKeywords heavyvehicle;yawstability;differentialbraking;fuzzy