时滞对人—车闭环系统操纵稳定性的影响  

Influences of time delay on vehicle handling and stability of the driver-vehicle closed-loop system

作　　者：张翠翠[1] 任传波[1] 周彬[1] 周长城[1] 

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255091

出　　处：《山东理工大学学报（自然科学版）》2012年第4期34-38,共5页Journal of Shandong University of Technology:Natural Science Edition

基　　金：山东省自然科学基金资助项目(ZR2009FL016)

摘　　要：对以往具有横摆角速度反馈控制的电动助力转向模型进行了研究分析,考虑反馈控制中时滞的存在,基于合适的驾驶员模型和汽车转向运动模型建立含时滞的横摆角速度反馈控制电动助力转向模型,利用matlab/simulink建立了人—车闭环系统动力学模型,通过改变时滞参数分析了时滞对车辆操纵稳定性的影响.研究结果表明,时滞对车辆的侧向速度、横摆角速度、前轮转角和驾驶员力矩都会产生不良影响,使汽车的稳定性变差甚至使汽车失稳.Considering the presence of time delay in feedback control, electric power steering model with yaw rate feedback control was studied and analyzed. Based on the driver model, the vehicle steering model and the electric power steering model with yaw rate feedback control with time delay, a dynamics model of the driver-vehicle closed-loop system is established with the help of the matlab/simulink to study the influences of the changing time delay on the vehicle handling and stability. The results show that： time delay has a negative impact on the vehicle lateral speed, yaw rate, front wheel steering angle and the driver torque. It makes the vehicle handling and stability worse.

关 键 词：汽车工程 人-车闭环系统 模拟仿真 时滞 横摆角速度反馈 操纵稳定性 

分 类 号：U461.6[机械工程—车辆工程]