多轴转向车辆操纵稳定性控制策略分析-control strategy analysis of multi-axle steering vehicle handling stability.docx

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2018-05-28 发布于上海
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多轴转向车辆操纵稳定性控制策略分析-control strategy analysis of multi-axle steering vehicle handling stability.docx

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多轴转向车辆操纵稳定性控制策略分析-control strategy analysis of multi-axle steering vehicle handling stability

ABSTRACTMulti-axlesteeringisaneffectiveactivechassiscontroltechnologyforimprovingvehiclehandlingstability.Itcaneffectivelysolvetheproblemsoftraditionalfront-wheel-steeringvehicle,suchasinflexiblesteeringatlowspeedandpoorstabilityathighspeed.Currently,theessenceofmostcontrolstrategiesoffourwheelsteeringisactivecontrolofrearwheelsteeringangle.Thismethodcancontrolonestatevariableofvehiclewell,butcan’trealizethemulti-objectivecontrol.Besides,itcan’tguaranteethestabilityofvehicleinlimiteddrivingconditions.Asformulti-axlesteeringtechnology(thenumberofsteeringaxlesismorethantwo),proportionalcontrolstrategyofzeromass-centerside-slipanglewhichissimpleismostlyused,andresearchesonnonlineardynamiccontrolareveryfew.Givenabovecurrentconditions,inthisthesis,researchesonintegratedrearwheelsteeringangleandyawmomentcontrolstrategiesoffour-wheel-steeringvehicleandsteeringanglecontrolstrategiesofthree-axlevehiclewithall-wheelsteeringwerecarriedout.Thespecificstudiesareasfollows:Inordertosolvetheproblemofexcessiveundersteeroffour-wheel-steeringvehiclewithproportionalcontrolofzeromass-centerside-slipangleathighspeed,acontrolstrategyofaddingdirectyawmomentcontroltotheproportionalcontrolofrearwheelsteeringanglewasproposed.Basedonthelinear2DOFmodeloffour-wheel-steeringvehicle,anintegratedoptimalcontrolsystemwasdesignedbasedonservotrackingoptimalcontroltheory.Toenhancethestabilityofvehicleinlimiteddrivingconditions,studyonthenonlinearintegratedcontroloffour-wheel-steeringvehiclewascarriedout.Anonlineardynamicsmodelofvehiclewasbuilt.Basedontheprincipleofstateregulatorinthelinearquadraticoptimalcontroltheory,anonlinearintegratedcontrollerwasdesigned.Inordertoreflectthedynamiccharacteristicsofvehiclemoretruly,avirtualprototypemodeloffour-wheel-steeringvehiclewhichismoreclosetotherealvehiclewasestablishedbyusingADAMS/Carsoftware.Aimingatthenonlinearcharacteristicofvehicle,anintegratedfuzzycontrolstrategywasproposed,andanonlinearintegratedfuzzycontrolsystemwasdesigned.Adoptingthejointsimulationme