基于多刚体动力学和规则协调的汽车EPS与ASS建模与控制  

Modeling and Control of Vehicle Electric Power Steering and Active Suspension System Based on Multibody Dynamics and Rule-based Coordination

作　　者：王其东[1] 秦炜华[1] 陈无畏[1] 

机构地区：[1]合肥工业大学,合肥230009

出　　处：《中国机械工程》2010年第14期1709-1714,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50575064);高等学校博士学科点专项科研基金资助项目(20060359005)

摘　　要：应用多刚体系统动力学理论,建立了装备电动助力转向和主动悬架系统的整车多刚体动力学模型。并根据转向和悬架两个系统之间的运动耦合关系,分别设计了EPS和ASS各子控制器,以及基于规则的中央控制器,对子系统监督和协调。在MATLAB下对整车的平顺性和操纵稳定性进行了仿真,结果表明多刚体模型运用在汽车底盘集成控制研究中是方便可行的;采用的控制策略有效改善了车辆的平顺性和操纵稳定性。The multibody model of a full vehicle which equipped the EPS system and the ASS was set up based on multibody dynamics theory.Also an EPS,ASS and rule-based central controller which supervised and coordinated the subsystems were designed based on the motion coupling relationships between steering and suspension systems.Under Matlab,the simulations of vehicle ride comfort and maneuverability were carried out.The results show that the use of the multibody model for the integrated control research of chassis is convenient and viable,also the control scheme can effectively improve the ride comfort and maneuverability.

关 键 词：多体动力学 电动助力转向 主动悬架系统 中央控制器 

分 类 号：U461.6[机械工程—车辆工程]