【作者】 章贵华；

【导师】 王其东；

【作者基本信息】 合肥工业大学 ， 车辆工程， 2008， 硕士

【摘要】 车辆动力学控制系统是目前较为先进的车辆控制系统,是基于ABS和TCS技术发展的一次重大突破。在紧急情况下它能速度反馈的滑模直接横摆力矩控制器,它通过横摆角速度实际值与期望值的够自动对车辆进行干预,防止车辆侧滑打转现象的发生,及时帮助驾驶员控制车辆,避免车祸的发生。它最基本的目的是在控制车辆的横摆角速度的同时把车辆的侧偏角也限制在一定的范围,提高车辆的稳定性。本文设计了带有车辆侧偏角和横摆角偏差来计算作用于车辆系统上的附加横摆力矩,附加横摆力矩可以通过左右车轮制动力矩的分配来实现。并综合考虑主动制动车轮的滑移率对车辆稳定性的影响,建立了综合有ABS的车辆动力学控制系统,以期提高车辆在危险工况下的稳定性和可控性。该控制思路的有效性是基于ADAMS/Car和MATLAB/Simulink的联合仿真平台上进行验证的,在ADAMS/Car中建立车辆模型,在MATLAB/Simuink中建立控制器,使用专用接口连接两个软件。使用阶跃转向和单移线两个典型工况下进行联合仿真,最终验证该控制策略的正确性,为实际设计车辆动力学稳定性控制系统提供了理论基础。最后,在LabVIEW开发平台基础上进行了车辆稳定性控制硬件在环试验的初步研究,为将来更成熟的试验手段提供一个参考。更多还原

【Abstract】 Vehicle dynamic control system is an advanced system at the present time, and it is a great leap based on the development of ABS/TCS technology. At the urgent state, vehicle yaw moment control can handle vehicle’s motion, preventing vehicle from sideslip and spin and also help the drivers manipulate vehicle avoiding traffic accident. Its fundamental aim is not only to control vehicle yaw rate but also limit vehicle slip angle in a certain rang, and improve the stability of vehicle.This study designs a slide mode direct yaw moment control with the feedback of the vehicle slip-angle and yaw rate. It uses the differential between actual value and desired value of yaw rate to calculate additional yaw moment acting on vehicle system. To realize the additional yaw moment, we can distribute the moment of left/right wheel. This paper also considers the affection of the wheel slip-ration to the vehicle’s yaw motion, which is combined with ABS/ to structure a vehicle dynamic integration control system. The vehicle stability and maneuverability in critical situation are hope to be enhanced. The validity of this control idea is verified on co-simulation platform of ADAMS/Car and MATLAB/Simulink, constructs the model of vehicle in ADAMS/Car and the controller in MATLAB/Simulink, combines them with special interface. Simulations on two representative conditions (step steer and single lane change), proves the validity of this strategy and provides a foundation of theory to design of vehicle dynamics stability control.At last, primary research of the vehicle stability control HILS is carried on based on LabVIEW platform, offers a little reference to maturate experimentation in the future.更多还原