四轮独立转向车辆稳定性的模糊最优控制方法
发布时间：2018-10-15 12:51
【摘要】：为改善四轮独立转向(4WIS)车辆的操纵稳定性,在设计了4WIS模型跟踪最优控制器的基础上,对最优控制参数对控制性能的影响以及4WIS车辆转向动力学特性进行了分析,提出了一种基于车辆转向状态的最优控制器参数调整策略,并设计了模糊逻辑控制参数调节器,实现最优控制器参数的自适应调整.结合4WIS车辆的八自由度动力学模型对提出的模糊最优控制系统进行仿真实验分析,结果表明:设计的4WIS模糊最优控制系统能够极大地改善车辆的稳定性与安全性;在高速低附着系数的极限工况下,该系统仍然够能保证车辆的理想转向状态.该系统对于强侧向风一类的侧向干扰具有很强的抑制能力;风速90 km/h的强侧风且无驾驶员干预情况下,车辆在320 m行驶距离内,侧向偏移量仅为0.78 m.
[Abstract]:In order to improve the handling stability of four-wheel independent steering (4WIS) vehicles, based on the design of 4WIS model tracking optimal controller, the influence of optimal control parameters on control performance and the steering dynamics of 4WIS vehicles are analyzed. In this paper, an optimal controller parameter adjustment strategy based on vehicle steering state is proposed, and a fuzzy logic control parameter regulator is designed to realize the adaptive adjustment of the optimal controller parameters. The simulation results of the proposed fuzzy optimal control system based on the eight degree of freedom dynamics model of 4WIS vehicle show that the designed 4WIS fuzzy optimal control system can greatly improve the stability and safety of the vehicle. Under the limit condition of high speed and low adhesion coefficient, the system can still guarantee the ideal steering condition of the vehicle. The system has a strong ability to suppress lateral interference such as strong side wind, and the lateral deviation is only 0.78 m when the wind speed of 90 km/h strong crosswind without driver intervention is only 0.78 m in the range of 320 m.
【作者单位】： 吉林大学交通学院;
【基金】：国家自然科学基金资助项目(51575229)
【分类号】：U461.6
，
本文编号：2272610
[Abstract]:In order to improve the handling stability of four-wheel independent steering (4WIS) vehicles, based on the design of 4WIS model tracking optimal controller, the influence of optimal control parameters on control performance and the steering dynamics of 4WIS vehicles are analyzed. In this paper, an optimal controller parameter adjustment strategy based on vehicle steering state is proposed, and a fuzzy logic control parameter regulator is designed to realize the adaptive adjustment of the optimal controller parameters. The simulation results of the proposed fuzzy optimal control system based on the eight degree of freedom dynamics model of 4WIS vehicle show that the designed 4WIS fuzzy optimal control system can greatly improve the stability and safety of the vehicle. Under the limit condition of high speed and low adhesion coefficient, the system can still guarantee the ideal steering condition of the vehicle. The system has a strong ability to suppress lateral interference such as strong side wind, and the lateral deviation is only 0.78 m when the wind speed of 90 km/h strong crosswind without driver intervention is only 0.78 m in the range of 320 m.
【作者单位】： 吉林大学交通学院;
【基金】：国家自然科学基金资助项目(51575229)
【分类号】：U461.6
，
本文编号：2272610
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