半主動(dòng)懸架與轉(zhuǎn)向集成控制研究

MATLAB仿真，CARSIM仿真

 

摘 要
目前,國(guó)內(nèi)的汽車(chē)底盤(pán)集成主要集中在對(duì)防抱死制動(dòng)系統(tǒng)、驅(qū)動(dòng)防滑系統(tǒng)、牽引力控制系統(tǒng)和自動(dòng)巡航系統(tǒng)的集成上，對(duì)汽車(chē)上懸架和電動(dòng)助力轉(zhuǎn)向的集成控制尚不多見(jiàn)。汽車(chē)在不同的行駛狀態(tài)時(shí)對(duì)懸架有不同的要求，一般行駛時(shí)需要軟一點(diǎn)的懸架以求舒適感，但是當(dāng)急轉(zhuǎn)彎和制動(dòng)時(shí)又需要硬一點(diǎn)的懸架以求穩(wěn)定性，兩者之間就是操縱穩(wěn)定性和平順性的矛盾。半主動(dòng)懸架具有控制車(chē)身運(yùn)動(dòng)的功能,減小汽車(chē)制動(dòng)及轉(zhuǎn)彎時(shí)車(chē)身位置的變化，直接影響車(chē)輛行駛平順性。電動(dòng)助力轉(zhuǎn)向提供助力，協(xié)助駕駛員調(diào)整轉(zhuǎn)向，直接影響操縱的穩(wěn)定性。據(jù)此本文對(duì)懸架和轉(zhuǎn)向的集成控制進(jìn)行了研究，建立了集成控制模型，并在CarSim/Simulink下進(jìn)行了仿真分析，以期抑制轉(zhuǎn)向時(shí)車(chē)身姿態(tài)的變化，提高車(chē)輛動(dòng)態(tài)性能。利用Matlab/Simulink軟件構(gòu)建電動(dòng)助力轉(zhuǎn)向及集成控制模型，并結(jié)合CarSim軟件中的整車(chē)多體動(dòng)力學(xué)模型，進(jìn)行集成控制的聯(lián)合仿真，通過(guò)仿真分析并將其與單獨(dú)懸架控制的模型進(jìn)行了對(duì)比，研究結(jié)果驗(yàn)證了所開(kāi)發(fā)模型的正確性，能夠用于很好地改善車(chē)輛行駛的平順性和穩(wěn)定性。

關(guān)鍵詞：電動(dòng)助力轉(zhuǎn)向；半主動(dòng)懸架；集成控制；仿真

CarSim/Simulink based integration of semi-active suspension and steering control research
ABSTRACT
The current domestic automobile chassis integration is mainly focused on the anti-lock braking system, drivers turn skid system, traction control system and automatic cruise on integrated systems in our country,Integrated control of the vehicle suspension and electric power steering is still rare.The driving state of different cars have different requirements for the suspension,we need to travel a bit soft when the general comfort of the suspension order, when a sharp turn and brake hard time and need a little order to the stability of the suspension,between handling stability and ride comfort is a contradiction.Semi-active suspension control body movements with the function of reducing the change in vehicle braking or cornering body position, exercised directly affect vehicle riding comfort.Electric power steering provides assistance to help the driver to adjust the steering, handling and stability directly affect.According to this article in the integrated control of suspension and steering were studied to establish the integrated control model, and in CarSim / Simulink simulation analysis, in order to suppress the steering body posture changes, improve vehicle dynamic performance.Using Matlab / Simulink software to build an electric power steering and integrated control model, and combined CarSim software vehicle multi-body dynamics model for co-simulation of integrated control,through simulation analysis and compare it with suspension control alone , the results validate the correctness of the developed model can be usedwell to improve vehicle ride comfort and stability through.

Key words：Electric power steering; semi-active suspension; integrated control; Simulation

目  錄
1  緒論 - 1 -
1.1 本課題研究背景和目的 - 1 -
1.2 汽車(chē)懸架概述 - 1 -
1.2.1懸架的工作原理及其分類(lèi) - 1 -
1.2.2國(guó)內(nèi)外SAS應(yīng)用現(xiàn)狀 - 4 -
1.3 EPS電動(dòng)助力轉(zhuǎn)向的工作原理 - 5 -
1.3.1 EPS電動(dòng)助力轉(zhuǎn)向的結(jié)構(gòu)組成 - 6 -
1.3.2 EPS電動(dòng)助力轉(zhuǎn)向的分類(lèi) - 7 -
1.3.3 國(guó)內(nèi)外EPS研究現(xiàn)狀 - 8 -
1.4 汽車(chē)集成控制的研究 - 9 -
1.4.1 集成控制的必要性 - 9 -
1.5 研究?jī)?nèi)容及主要目的 - 10 -
1.5.1 研究目的 - 10 -
1.5.2 研究的主要內(nèi)容 - 10 -
2  集成控制理論基礎(chǔ)及軟件概述 - 11 -
2.1集成控制原理 - 11 -
2.2 CarSim軟件 - 11 -
2.2.1 CarSim軟件介紹 - 11 -
2.2.2  CarSim 在車(chē)輛動(dòng)力學(xué)研究中的應(yīng)用 - 12 -
2.3 模糊控制器設(shè)計(jì) - 13 -
2.3.1 模糊控制簡(jiǎn)介 - 13 -
2.3.2 模糊控制器的結(jié)構(gòu) - 14 -
2.3.3 模糊控制器的設(shè)計(jì) - 14 -
3  半主動(dòng)懸架與EPS集成系統(tǒng)建模 - 18 -
3.1 集成系統(tǒng)的轉(zhuǎn)向運(yùn)動(dòng)模型 - 18 -
3.2 側(cè)傾運(yùn)動(dòng)模型 - 19 -
3.3垂直與俯仰運(yùn)動(dòng)模型 - 20 -
3.4 半主動(dòng)懸架模型 - 21 -
3.5 輪胎模型 - 21 -
3.6 路面模型 - 22 -
3.7 電動(dòng)助力轉(zhuǎn)向模型 - 22 -
3.8 集成系統(tǒng)模型 - 23 -
3.9 系統(tǒng)的狀態(tài)方程 - 25 -
4  仿真計(jì)算和結(jié)果分析 - 30 -
4.1 Matlab仿真和結(jié)果分析 - 30 -
4.2 CarSim與Matlab的聯(lián)合仿真 - 32 -
總結(jié) - 37 -
全文總結(jié) - 37 -
未來(lái)工作展望及建議 - 37 -
致謝 - 39 -
參考文獻(xiàn) - 40 -