无人驾驶方程式赛车系统动力学建模  

Driverless Formula Car System Dynamics Modeling

作　　者：王子涵 张勇[1] 霍政宇 WANG Zihan;ZHANG Yong;HUO Zhengyu(School of Artificial Intelligence,Beijing Technology and Business University,Beijing 102488,China)

机构地区：[1]北京工商大学人工智能学院,北京102488

出　　处：《汽车实用技术》2023年第16期24-28,共5页Automobile Applied Technology

摘　　要：以无人驾驶方程式赛车作为研究对象,基于MATLAB/Simulink研究车辆动力学建模,推导车辆三自由度运动学数学模型和动力学数学模型。根据三自由度数学模型结合Dugoff轮胎公式和轮胎转动计算公式,推导七自由度车辆动力学模型。在MATLAB/Simulink中建立车辆仿真数学模型,并验证了输入恒定前轮转角和初速度工况的仿真结果,为无人驾驶方程式赛车设计和测试建立了测试平台。Taking driverless formula car as the research object,the vehicle dynamics modeling is studied based on MATLAB/Simulink,and the car 3-DoF kinematics mathematical model and dynamics mathematical model are deduced.According to the 3-DoF mathematical model combined with Dugoff tire formula and tire rotation calculation formula,the 7-DoF car dynamics model is derived.The car simulation mathematical model is established in MATLAB/Simulink,and the simulation results of input constant front wheel angle and initial speed are verified,and a test platform is established for the design and test of driverless formula car.

关 键 词：车辆系统动力学 无人驾驶方程式赛车 数学建模 MATLAB/SIMULINK 

分 类 号：U461.1[机械工程—车辆工程]