基于综合控制的多轴车辆电控液压转向系统

摘要/Abstract

摘要：

针对某8×2重型货车，建立了阀控缸的二自由度多轴车辆转向动力学模型。使用门限阈值控制及基于RBF神经网络的PID在线整定控制方法，以操纵稳定性和轮胎磨损最优为控制目标，在MATLAB/Simulink中进行仿真，得到了20km/h和50km/h时横摆角速度、质心侧偏角、侧向加速度在第一轴转角阶跃输入下的时域响应，并进行了bode图的频域分析。同时对比了开环控制、PID控制、RBF神经网络整定PID控制下，第三轴转角在行驶及原地转向时的阶跃时域响应。仿真结果表明，车辆具有较好的操纵稳定性和轮胎抗磨性。

关键词: 电控液压系统, 神经网络PID控制, 操纵稳定性, 转向轮胎磨损

Abstract:

The multi-axle vehicle dynamics model was established based on the valve-control cylinder of 4 axis (8×2) heavy duty truck. Threshold control and PID online setting based on RBF(radial basis function) neural network control algorithm were used to optimize steering stability and steering wheel-wear. After simulating the dynamics model in MATLAB/Simulink, the time domain response of yaw velocity, centroid side-slip angle and lateral acceleration to the first axle angle step under the conditions of 20km/h and 50km/h were obtained and converted into bode diagram with frequency domain analyses. At the same time, under the conditions of running steering and parking steering, 3 kinds of corresponding step time domain response of the third axle angle with the open loop control, PID control and RBF neural network setting PID control were compared. The simulation results show that the vehicle has better operation stability and tire abrasion resistance.

Key words: electronically controlled hydraulic system, neural network PID control, operation stability, steering wheel tire abrasion

中图分类号:

U463.44

刘俊, 谢意, 林贝清. 基于综合控制的多轴车辆电控液压转向系统[J]. 中国机械工程, 2015, 26(24): 3396-3401,3407.

Liu Jun, Xie Yi, Lin Beiqing. Comprehensive Control for Multi-axle Vehicle Electronically Controlled Hydraulic Steering Systems[J]. China Mechanical Engineering, 2015, 26(24): 3396-3401,3407.

参考文献

[1]王云超，张小江，周梅，等.多轴液压助力转向系统匹配设计研究[J].中国机械工程，2013， 24 (10)：1404-1407.
Wang Yunchao，Zhang Xiaojiang，Zhou Mei，et al. Research on Matching Design of Muti-axle Hydraulic Assisted Steering System[J]. China Mechanical Engineering，2013， 24 (10)：1404-1407.
[2]陈立平，李明兵，王书亭，等.双轴转向8×4货车多体动力学仿真分析及系统开发[J]. 汽车工程，2006，28(8)：755-759.
Chen Liping，Li Mingbing，Wang Shuting，et al. Multi-body Dynamic Simulink and System Development of an 8×4 Truck with Twin-axle Steering[J]. Automotive Engineering，2006，28(8)：755-759.
[3]王树凤，郝秀成，柴山，等. 五轴转向重型汽车转向性能的研究[J]. 汽车工程，2008，30（2）：167-169.
Wang Shufeng，Hao Xiucheng，Chai Shan，et al. Study on Steering Performance of Five-axle-heavy-vehicle[J]. Automotive Engineering，2008，30（2）：167-169.
[4]陈思忠，孟祥，杨林，等. 三轴汽车多轮转向技术研究[J]. 北京理工大学学报，2005，25（8）：680-683.
Chen Sizhong，Meng Xiang，Yang Lin，et al. Multi-wheel Steering Characteristics of a Three-axial Vehicle[J]. Transactions of Beijing Institute of Technology，2005，25（8）：680-683.
[5]李勇，左曙光，杨宪武. 轮胎多边形磨损的发生机理及其影响因素分析[J]. 振动与冲击，2011，30（9）：7-14.
Li Yong，Zuo Shuguang，Yang Xianwu. Analysis on Generation Mechanism and Impact Factors of Polygonal Wear of Tire[J]. Journal of Vibration and Shock，30（9）：7-14.
[6]屈求真，刘延柱.三轴汽车前后轮角输入时的影响特性[J].汽车工程,1999，21(1)：27-30.
Qu Qiuzhen，Liu Yanzhu. Study on the Response Characteristics of Three-axle Vehicle under the Angle Input of Front and Rear Wheels[J]. Automotive Engineering,1999，21(1)：27-30.
[7]张晨晨，夏群生，何乐. 质心侧偏角对车辆稳定性影响的研究[J]. 汽车工程，2011，33（4）：278-282.
Zhang Chenchen，Xia Quansheng，He Le. Study on the Influence of Sideslip Angle at Mass Center on Vehicle Stability[J]. Automotive Engineering，2011，33（4）：278-282.
[8]吕红明，陈南. 基于Matlab/Simulink的四轮转向车辆操纵稳定性仿真[J].系统仿真学报，2004，16（5）：957-959.
Lü Hongming，Chen Nan. Simulation for the Handling and Stability of Four-wheel Steering Vehicle Based on Matlab/Simulink[J]. Journal of System Simulation，2004，16（5）：957-959.