驾驶员—汽车闭环系统侧翻稳定性分析及防侧翻控制

发布时间：2018-05-14 10:19

本文选题：驾驶员-汽车闭环系统 + 侧翻稳定性　；参考：《南京航空航天大学》2016年硕士论文

【摘要】：驾驶员是引起汽车侧翻事故的重要因素之一,现有的汽车侧翻研究大都忽略了驾驶员在人-车闭环系统的动态影响。当汽车出现侧翻情况时,驾驶员会做出相应的反应和决策,并执行相关的操作,驾驶员的响应往往会与车辆主动防侧翻系统有互相的影响,因此在研究汽车侧翻稳定性和控制研究时考虑驾驶员因素会更接近汽车侧翻的现实情况,得到符合实际的规律和策略。首先,建立了驾驶员-汽车闭环系统模型,包括车辆模型、驾驶员道路跟踪预瞄模型、及驾驶员侧倾反应模型。应用汽车动力学理论建立了三自由度汽车开环系统模型,并运用Carsim软件进行验证;然后在分析驾驶员生理特性和驾驶员对汽车侧倾状况反应的基础上建立了具有防侧翻属性的驾驶员模型;融合驾驶员模型及汽车开环模型建立驾驶员-汽车闭环系统模型,在典型的侧翻路况下进行仿真,验证了所建模型的正确性和合理性。其次,分析了汽车自身结构参数、汽车行驶参数以及驾驶员行为特性对汽车侧翻稳定性的影响规律。选用横向转移率和动态侧翻指标作为汽车侧翻指标,分析了汽车重心高度、汽车轮距以及汽车侧倾刚度等结构参数对汽车侧翻稳定性影响规律;分析了汽车车速、汽车转向角等行驶参数对汽车侧翻稳定性影响规律;重点分析了驾驶员重要参数对驾驶员-汽车闭环系统侧翻稳定性的影响,包括驾驶员侧翻反应增益系数、驾驶员思考时间、以及驾驶员侧倾反应门槛值等,为提高汽车防侧翻能力提供了理论依据。最后,针对一些驾驶员难以防止的汽车侧翻工况,设计了汽车防侧翻主动控制策略。以驾驶员-汽车闭环系统为对象,分别基于汽车主动转向和差动制动设计了PID控制器和模糊自适应PID控制器,选取大回转路况和双移线路况仿真实验得到各种控制器的控制效果并进行对比,结果表明基于差动制动的模糊PID控制策略能有效提高汽车的防侧翻能力,具有很强的工况适应性。
[Abstract]:Driver is one of the important factors that cause the vehicle rollover accident. Most of the existing research on vehicle rollover neglects the driver's dynamic influence in the man-vehicle closed loop system. When the car appears rollover, the driver will make the corresponding reaction and decision, and perform the related operation, the driver's response will often have the mutual influence with the vehicle active anti-roll system. Therefore, in the study of vehicle rollover stability and control, considering driver factors will be closer to the actual situation of vehicle rollover, and get the actual law and strategy. Firstly, the driver-vehicle closed-loop system model is established, including the vehicle model, the driver road tracking preview model, and the driver roll response model. Based on the theory of automobile dynamics, the open loop system model of three degrees of freedom vehicle is established and verified by Carsim software. Then, based on the analysis of driver's physiological characteristics and driver's reaction to vehicle roll condition, the driver model with anti-rollover property is established, and the driver-vehicle closed-loop system model is established by combining driver model with vehicle open-loop model. The simulation results show that the model is correct and reasonable. Secondly, the influence of vehicle structure parameters, driving parameters and driver behavior on the rollover stability is analyzed. The lateral transfer rate and dynamic rollover index are selected as the vehicle rollover indexes. The influence of the structural parameters such as the height of the center of gravity, the wheel distance and the roll stiffness of the vehicle on the stability of the vehicle is analyzed, and the speed of the vehicle is analyzed. The influence of driving parameters such as steering angle on the rollover stability of the vehicle is analyzed, and the influence of important driver parameters on the rollover stability of the driver-vehicle closed-loop system is analyzed, including the gain coefficient of the driver's rollover reaction, the driver's thinking time. The threshold value of driver's roll reaction provides a theoretical basis for improving the ability of vehicle roll prevention. Finally, the active control strategy of anti-rollover is designed for some vehicle rollers which are difficult to prevent. PID controller and fuzzy adaptive PID controller are designed based on active steering and differential braking for driver-vehicle closed-loop system. The control effects of various controllers are obtained by using the simulation experiments of large slewing road conditions and double-moving road conditions. The results show that the fuzzy PID control strategy based on differential braking can effectively improve the anti-rollover capability of the vehicle. It has strong adaptability to operating conditions.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U461.6

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