汽车操纵逆动力学力输入识别研究  

Identification of Force Input in Vehicle-Handling Inverse Dynamics

作　　者：张丽霞[1] 赵又群[1] 

机构地区：[1]南京航空航天大学能源与动力学院,江苏南京210016

出　　处：《华南理工大学学报（自然科学版）》2007年第6期21-24,共4页Journal of South China University of Technology(Natural Science Edition)

基　　金：高等学校博士学科点专项科研基金资助项目(20040287004);南京航空航天大学科研创新基金资助项目(S0401022)

摘　　要：提出了在不同汽车跟踪同一指定路径的情况下,汽车操纵逆动力学力输入识别的仿真研究方法.该方法以线性3自由度汽车方向盘转矩输入为数学模型,运用最优控制理论识别方向盘转矩输入.用直接配置方法将最优控制问题转化为非线性规划问题,用序列二次规划方法对转化后的非线性规划问题进行求解.仿真结果表明:利用该方法计算出来的路径跟踪性良好,且可以比较跟踪同一路径的不同汽车的操纵性能.A simulation method for identifying the force input in vehicle handling inverse dynamics is proposed under the condition of different vehicles tracking the same given path. In this method, a linear model of steering torque input for the vehicle with three degrees of freedom is adopted, and the optimal control theory is used to identify the steering torque input. By using the direct parallel method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. Simulated results show that the proposed method is of good path-tracking ability and is able to compare the maneuverability of different vehicles that track the same path.

关 键 词：汽车操纵动力学 最优控制 逆问题 仿真 

分 类 号：U461[机械工程—车辆工程]