基于DYC控制全轮驱动铰接车行驶稳定性分析  

Analysis on Stability of Articulated Vehicle with Full Motor-Driven Wheels Based on DYC

作　　者：卢慧娟[1] 

机构地区：[1]苏州农业职业技术学院,江苏苏州215008

出　　处：《机械设计与制造》2016年第9期44-49,共6页Machinery Design & Manufacture

基　　金：苏州市高技能人才培养研发项目(GJNP42);苏州农业职业技术学院课题项目(PPN201208)

摘　　要：全轮驱动铰接车所有驱动轮都可独立进行转矩控制,且电动机转矩的快速、精确响应和易于换向的特点,能够使这种铰接车有利于实现利用驱动力改善行驶稳定性。充分利用这一点,针对铰接车的行驶不稳定的情况,基于直接横摆力矩(DYC)控制方法,运用LQ最优控制理论,以车辆质心侧偏角(β)和横摆角速度(ωr)为控制变量对其行驶稳定性控制进行分析,对铰接车行驶稳定性进行前馈—反馈复合控制,使铰接车的横摆角速度,侧向加速度,质心侧偏角有了一定的改善,取得了良好的控制效果。并对其权值系数进行了调试。通过铰接角转角阶跃输入,结果显示加入控制后,在一定程度上改善了铰接车行驶的不稳定情况。Full motor-driven wheels of all-wheel drive articulated vehicle can be independently torque controlled, and the characteristics of motor torque of being fast, accurate and easy to change making this articulated vehicle can use driving force to improve driving stability. Based on the direct yaw moment control （DYC） method, it uses LQ optimal control theory. According to the mechanical characteristics of articulated vehicle and the case of articulated vehicle traveling unstable, it analyze the stability of the articulated vehicle by using control variable of vehicle sideslip angle （β） and yaw rate （ωr）. Feed forward-feedback composite control can be used in articulated vehicle driving stability. According to this, yaw rate, lateral acceleration, sideslip angle of the articulated vehicle has been some improvement and achieved good control effect. Through simulation the coefficient for debugging, by articulation angle step input, the results show after adding control, to a certain extent, it improved the articulated vehicle driving instability.

关 键 词：铰接车 全轮驱动 直接横摆力矩控制方法 行驶稳定性 模型 

分 类 号：TH16[机械工程—机械制造及自动化] U463.32[机械工程—车辆工程]