基于多体力学的车辆动力学控制系统仿真及优化  

VEHICLE DYNAMIC CONTROL SYSTEM SIMULATION AND OPTIMIZATION USING MULTIBODY DYNAMICS

作　　者：张云清[1] 高斯[1] 李凌阳[1] 覃刚[1] 陈立平[1] 

机构地区：[1]华中科技大学CAD中心,武汉430074

出　　处：《动力学与控制学报》2007年第1期68-74,共7页Journal of Dynamics and Control

摘　　要：利用多体分析软件ADAMS建立了多自由度汽车整车多体动力学仿真模型,并进一步简化为15自由度非线性模型,结合2自由度线性模型建立PID控制策略,进行了冰面单周正弦工况下的汽车操纵稳定性仿真试验研究,采用自适应模拟退火算法与非线性序列二次规划法相结合的组合优化方法对控制系统的控制参数进行了分析和优化.结果表明,该控制方法能够大幅度提高车辆的操纵稳定性和安全性,能够适应复杂的路面和行驶工况,取得了良好的效果.A multi - body vehicle dynamic model was built using ADAMS, which was then reduced to a 15 degree of freedom（dof） nonlinear model. Using the 2 dof linear model, a PID control strategy was created, and was then integrated and co - simulated with the 15 dof nonlinear model by the interface of ADAMS/Control. A simulation on ice road with single sine steering angle input was run. The control parameters were optimized and analyzed by a combined optimization algorithm with Adaptive Simulated Annealing （ASA） and Nonlinear Programming Quadratic Line search（NLPQL） method. The simulation results show that the handling stability and safety of the vehicle can be enhanced by the control method, which can be adapted to complex road and driving conditions.

关 键 词：车辆稳定性控制 多体系统动力学 联合仿真 PID控制 优化 

分 类 号：U461.6[机械工程—车辆工程]