五轴汽车同相位程度对转向性能的影响分析

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (3): 627-633.

五轴汽车同相位程度对转向性能的影响分析

张平霞^1,2, 高利¹, 朱永强²

1.北京理工大学机械与车辆学院, 北京 100081;
2.青岛理工大学黄岛校区汽车与交通学院, 青岛 266520

收稿日期:2014-02-18 修回日期:2014-05-27 出版日期:2015-03-08 发布日期:2020-08-20
作者简介:张平霞(1973-),女,山东德州,博士,讲师,研究方向为汽车动力学、虚拟现实;高利(1959-),男,教授,博导,研究方向为车载信息技术;朱永强(1975-),男,山东莱州,博士,副教授,硕导,研究方向为汽车动力学、汽车控制。
基金资助:
国家自然科学基金-青年科学基金项目(51005128)

Steering Performance Analysis of Five-axle Vehicle Based on In-phase Steering Extent

Zhang Pingxia^1,2, Gao Li¹, Zhu Yongqiang²

1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. School of Automobile and Traffic, Qingdao Technological University, Qingdao 266520, China

Received:2014-02-18 Revised:2014-05-27 Online:2015-03-08 Published:2020-08-20

摘要/Abstract

摘要： 根据多轴汽车轴数较多,转向控制复杂的特点,提出了以汽车转向中心与第1轴的距离D以及前轮偏转角作为输入控制变量,基于阿克曼定理实现全部车轮绕同一瞬时转向中心做圆周运动,通过改变D值实现多种相位的转向模式。在此基础上利用ADAMS建立了5轴汽车的动力学模型,利用Simulink建立了控制策略,进行了不同D值、不同车速的角阶跃转向响应仿真,发现多轴汽车在高速行驶时后轮采用同相位参与转向,可以降低横摆角速度,提高操纵稳定性,并且在进行同相位转向时,D值对操纵稳定性有较大影响,选择合适的D值可以提高汽车的转向安全性或操纵灵敏性。

关键词: 多轴汽车, 同相位转向, 全轮转向控制, 角阶跃输入响应

Abstract: Because there are several axles in multi-axle vehicle, and steering controlling is very complex, it is proposed to use the front wheel steering angle and the distance D between turning center and first axle as input controlling variables, and based on Ackerman theory to realize all wheels steering. This control strategy can make all wheels turn around the same instant center in a circular motion, and realize several steering mode by changing D values. Based on this, a five-axle vehicle model was built with ADAMS software, and the control strategy was built with Simulink software. The steering angle step response simulation with different D value and different speed was processed. It was found that the yaw angle rate of multi-axle became smaller with in-phase steering mode and handling and stability was improved. While turning in in-phase mode, D value has a greater impact on the handling and stability, and the safety and sensitivity of steering can be improved with appropriate D value.

Key words: multi-axle, in-phase steering, whole wheel steering, angle step input response

中图分类号:

U463.23

张平霞, 高利, 朱永强. 五轴汽车同相位程度对转向性能的影响分析[J]. 系统仿真学报, 2015, 27(3): 627-633.

Zhang Pingxia, Gao Li, Zhu Yongqiang. Steering Performance Analysis of Five-axle Vehicle Based on In-phase Steering Extent[J]. Journal of System Simulation, 2015, 27(3): 627-633.

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