应用闭环算法车辆转向机构最优控制系统分析  

Optimal Control System Analysis of Vehicle Steering Mechanism Based on Closed-Loop Algorithm

作　　者：郝正君[1] HAO Zhengjun(He’nan Police College,He’nan Zhengzhou 450046,China)

机构地区：[1]河南警察学院,河南郑州450046

出　　处：《机械设计与制造》2024年第12期169-172,177,共5页Machinery Design & Manufacture

基　　金：河南省科技厅软科学项目(212400410287)。

摘　　要：四轮车辆转向时,前后车轮的转向中心为一点时,视为车辆的理论最优转向,也是最优控制的目标。针对常用的多连杆转向系统,根据结构特点和转角关系,对系统控制进行分析;基于闭环控制算法,依据目标路径与参数反馈获取的转向控制量,对转向系统的最优控制进行设计分析;同时,对系统的状态变量和预测参数进行分析;基于实际车辆和转向最优控制系统,分析车辆在空载工况,以30km/h转向,分析稳态回转工况和双移线工况车辆运行的各参数变化,并与理论最优值进行对比,以验证控制系统的有效性。结果可知:采用离散分析和半步长积分对控制系统的状态变量进行预测,获取的经过精度较高;稳态回转工况,随着车辆的提升,转向轨迹的半径逐渐增大,车辆表现出明显的不足转向特征;两种工况下,转向控制系统获得的特性曲线与理论值具有高度的一致性,二者的峰值误差控制在5%以内,表明最优控制算法的可靠性,为此类设计优化提供参考。When a four-wheel vehicle turns and the steering center of the front and rear wheels is one point,it is regarded as the theoretical optimal steering of the vehicle and the goal of optimal control.Aiming at the commonly used multi-link steering system,the system control was analyzed,according to the structural characteristics and angle relationship.Based on the closedloop control algorithm,the optimal control of the steering system was designed and analyzed,according to the steering control quantity obtained by the target path and parameter feedback.At the same time,the state variables and prediction parameters of the system were analyzed.Based on the actual vehicle and steering optimal control system,the changes of various parameters of vehicle operation under no-load condition and turning at 30km/h were analyzed,and compared with the theoretical optimal value to verify the effectiveness of the control system.The results show that:the state variables of the control system are predicted by discrete analysis and half step integration,and the accuracy is high.In the steady-state turning condition,with the lifting of the vehicle,the radius of the steering track gradually increases,and the vehicle shows obvious understeer characteristics.Under the two working conditions,the characteristic curves obtained by the steering control system are highly consistent with the theoretical values,and the peak error of the two is controlled within 5%,indicating the reliability of the optimal control algorithm,which provides a reference for such design optimization.

关 键 词：汽车 转向机构 闭环控制算法 最优控制 实车 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.7[自动化与计算机技术—计算机应用技术] U463.41[自动化与计算机技术—计算机科学与技术]