半主動懸架與轉(zhuǎn)向集成控制研究

MATLAB仿真，CARSIM仿真

 

摘 要
目前,國內(nèi)的汽車底盤集成主要集中在對防抱死制動系統(tǒng)、驅(qū)動防滑系統(tǒng)、牽引力控制系統(tǒng)和自動巡航系統(tǒng)的集成上，對汽車上懸架和電動助力轉(zhuǎn)向的集成控制尚不多見。汽車在不同的行駛狀態(tài)時對懸架有不同的要求，一般行駛時需要軟一點的懸架以求舒適感，但是當(dāng)急轉(zhuǎn)彎和制動時又需要硬一點的懸架以求穩(wěn)定性，兩者之間就是操縱穩(wěn)定性和平順性的矛盾。半主動懸架具有控制車身運動的功能,減小汽車制動及轉(zhuǎn)彎時車身位置的變化，直接影響車輛行駛平順性。電動助力轉(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)此本文對懸架和轉(zhuǎn)向的集成控制進行了研究，建立了集成控制模型，并在CarSim/Simulink下進行了仿真分析，以期抑制轉(zhuǎn)向時車身姿態(tài)的變化，提高車輛動態(tài)性能。利用Matlab/Simulink軟件構(gòu)建電動助力轉(zhuǎn)向及集成控制模型，并結(jié)合CarSim軟件中的整車多體動力學(xué)模型，進行集成控制的聯(lián)合仿真，通過仿真分析并將其與單獨懸架控制的模型進行了對比，研究結(jié)果驗證了所開發(fā)模型的正確性，能夠用于很好地改善車輛行駛的平順性和穩(wěn)定性。

關(guān)鍵詞：電動助力轉(zhuǎn)向；半主動懸架；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 汽車懸架概述 - 1 -
1.2.1懸架的工作原理及其分類 - 1 -
1.2.2國內(nèi)外SAS應(yīng)用現(xiàn)狀 - 4 -
1.3 EPS電動助力轉(zhuǎn)向的工作原理 - 5 -
1.3.1 EPS電動助力轉(zhuǎn)向的結(jié)構(gòu)組成 - 6 -
1.3.2 EPS電動助力轉(zhuǎn)向的分類 - 7 -
1.3.3 國內(nèi)外EPS研究現(xiàn)狀 - 8 -
1.4 汽車集成控制的研究 - 9 -
1.4.1 集成控制的必要性 - 9 -
1.5 研究內(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 在車輛動力學(xué)研究中的應(yīng)用 - 12 -
2.3 模糊控制器設(shè)計 - 13 -
2.3.1 模糊控制簡介 - 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 - 14 -
3  半主動懸架與EPS集成系統(tǒng)建模 - 18 -
3.1 集成系統(tǒng)的轉(zhuǎn)向運動模型 - 18 -
3.2 側(cè)傾運動模型 - 19 -
3.3垂直與俯仰運動模型 - 20 -
3.4 半主動懸架模型 - 21 -
3.5 輪胎模型 - 21 -
3.6 路面模型 - 22 -
3.7 電動助力轉(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 -
未來工作展望及建議 - 37 -
致謝 - 39 -
參考文獻 - 40 -