基于Lyapunov的客车稳定域估计  

Estimation of the Stability Region of Bus Based on Lyapunov

作　　者：晏愈光[1,2] 许洪国[1] 刘宏飞[1] 

机构地区：[1]吉林大学交通学院,吉林长春130025 [2]长春师范大学计算机科学与技术学院,吉林长春130032

出　　处：《湖南大学学报（自然科学版）》2016年第2期15-21,共7页Journal of Hunan University:Natural Sciences

基　　金：国家科技支撑计划项目(2009BAG13A04);国家高技术研究发展计划('863'计划)项目(2009AA11Z201)

摘　　要：针对平面稳定域在评价车辆稳定性方面的不足,提出了客车空间稳定域的一种估计方法.建立了包含Pacejka轮胎魔术公式的客车三自由度非线性动力学模型,通过仿真和实车试验对比验证了所建模型的有效性.基于客车非线性动力学模型,构建了系统Jacobian矩阵,应用霍尔维茨(Hurwitz)判据分析了车辆系统稳定性随前轮转角变化情况以及车辆的临界状态.在构建客车系统二次型能量函数的基础上,利用Lyapunov法和车辆系统稳定特性确定了客车空间稳定域.客车在满载条件下的蛇形试验结果表明:应用上述方法确定的客车行驶稳定域能够较好地表征车辆系统稳定性,可为客车操纵稳定性评价和控制提供有益参考.In order to address the deficiency of vehicle plane stability region, according to the nonlinear vehicle dynamic model, a method of estimating vehicle spatial stability region was proposed. A 3DOF bus model with Pacejka Magic Formula tire model was deduced and verified by comparing vehicle tests. Based on the Jacobian matrix of the dynamic system, the stability of the vehicle system was discussed with Hurwitz criterion. In addition, by establishing a generalized function for bus system, the full loaded vehicle＇s spatial stability region in 20 m/s was given on the basis of Lyapunov theory and vehicle system characteristics. A vehicle test in the same condition has shown that the calculated stability region defined by Lya- punov and system stability theorem has a good effect on characterized vehicle stability. It will be a valuable reference for vehicle stability evaluation and control.

关 键 词：客车 稳定性 3DOF非线性车辆模型 LYAPUNOV方法 能量函数 稳定域 

分 类 号：U461.6[机械工程—车辆工程]