基于人群搜索算法的四驱汽车扭矩分配性能分析与试验

发布时间：2018-08-08 18:56

【摘要】：在国内市场,随着社会经济水平的提高,车辆的操纵稳定性、驾驶安全性逐渐被消费者所侧重,而四驱汽车由于其独特的驱动方式所具有的驾驶潜能也越发受到广大消费者的追捧,相比于传统两轮驱动模式,四驱汽车则能够充分发挥整车动力性,充分利用路面所能提供给车辆的附着极限。本文以某款适时四驱车辆为例,对其进行了整车动力学分析,重点研究了转向工况下扭矩分配对整车性能状态的影响,并通过设计扭矩分配控制策略合理有效的识别和追踪了驾驶员转向意图,提高了整车操纵稳定性。本文的主要研究内容如下:1)本文首先研究分析了国内外对于四驱技术的研究现状及发展状况,并针对分时四驱、适时四驱、全时四驱的结构及性能特点进行了深入分析,与此同时展开了整车动力学分析,并基于MATLAB/SIMULINK软件搭建了七自由度整车模型,模型包括整车动力学部分、发动机部分、传动系统部分以及轮胎附着模块、辅助计算模块。为便于针对性分析,采用分块式建模方法,为下一步进行整车性能分析奠定了基础。2)基于某适时四驱汽车,对其动力性进行了分析,并研究了不同路面、不同车速和不同转向工况下轴间扭矩分配和轮间扭矩分配对汽车质心侧偏角及横摆角速度的影响规律。以此为基础提出了基于扭矩分配控制的分层协调控制系统,以线性二自由度半车模型为参考对象,设计了以扭矩分配系数为输出对象的自适应PID控制器结构。3)对设计的控制系统及控制器开展了典型工况下的整车性能仿真验证,同时利用VG440陀螺仪及转角传感器进行了实车试验,并基于采集所得数据及NI PXI设备构建了扭矩分配硬件在环试验平台,对整车模型及控制系统结构的有效性进行了试验验证。结果显示:该控制策略能较好的追随驾驶员的转向意图,车辆行驶稳定性得到提升,试验结果也验证了控制系统的有效性。
[Abstract]:In the domestic market, with the improvement of social and economic level, the stability of vehicle handling and driving safety are gradually being emphasized by consumers. Because of their unique driving potential, four-drive cars are increasingly sought after by consumers. Compared with the traditional two-wheel drive mode, four-drive cars can give full play to the power of the whole vehicle. Make full use of the adhesion limit that the road can provide to the vehicle. In this paper, taking a timely four-drive vehicle as an example, the dynamic analysis of the vehicle is carried out, and the influence of torque distribution on the performance of the vehicle under steering condition is studied. The torque distribution control strategy is designed to identify and track the steering intention of the driver reasonably and effectively, and improve the handling stability of the whole vehicle. The main research contents of this paper are as follows: firstly, this paper studies and analyzes the present situation and development of the four-drive technology at home and abroad, and analyzes the structure and performance characteristics of time-sharing four-drive, timely four-drive and full-time four-drive. At the same time, the dynamic analysis of the whole vehicle is carried out, and based on the MATLAB/SIMULINK software, the vehicle model with seven degrees of freedom is built. The model includes the whole vehicle dynamics part, the engine part, the transmission system part and the tire attachment module, and the auxiliary calculation module. In order to facilitate the specific analysis, the block modeling method is used to lay the foundation for the next step of the whole vehicle performance analysis. 2) based on a timely four-drive vehicle, the dynamic performance of the vehicle is analyzed, and the different road surfaces are studied. The effect of torque distribution between shafts and wheel on the deflection angle and yaw angular velocity of vehicle mass center under different speed and different steering conditions. Based on this, a hierarchical coordinated control system based on torque distribution control is proposed. The linear two-degree-of-freedom half-car model is taken as the reference object. An adaptive PID controller with torque distribution coefficient as output object is designed. 3) the designed control system and controller are simulated and verified under typical operating conditions. At the same time, the VG440 gyroscope and angle sensor are used to carry out the actual vehicle test, and based on the collected data and NI PXI equipment, the torque distribution hardware in loop test platform is constructed, and the validity of the whole vehicle model and the control system structure is tested and verified. The results show that the control strategy can follow the steering intention of the driver and improve the vehicle driving stability. The experimental results also verify the effectiveness of the control system.
【学位授予单位】：安徽农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467

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