车辆模拟器转向操纵系统若干关键技术研究
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摘要
驾驶员与车辆形成的闭环控制系统,称为人-车闭环系统。目前对人-车闭环系统中转向操纵系统相关理论的研究以数值仿真为主,由于驾驶员的感觉、判断和动作还不能够完全用数学模型加以描述,采用驾驶员模型进行数值仿真对人的因素影响考虑得不够全面,研究效果有一定局限性,而直接使用实车试验存在着成本高、周期长、受场地天气限制、安全隐患、污染环境等缺点,在这种情况下通过车辆模拟器能方便地进行驾驶员在线试验,使其成为研究转向操纵系统相关理论的有效手段。结合本课题组承担的“车辆人机环”科研项目,在开发了具有高逼真度车辆模拟器的基础上,本文研究了与转向操纵系统密切相关的转向盘阻力矩模拟与变传动比控制方法等问题,并结合车辆模拟器进行了不同工况的试验研究,对试验结果进行了分析与评价。本文的研究亦可为实际转向操纵系统的设计提供一定指导意义。
首先,阐述了具有6自由度运动平台半实物车辆模拟器的特性及关键技术,为后续仿真和试验提供了平台。分析了转向操纵系统的功能,设计了其组成结构与工作流程,在此基础上提出了关于转向操纵系统3个方面的研究内容,为后文研究作了铺垫。
其次,建立了转向操纵系统的理论模型,根据其低频、堵转的工作特性作出了一定简化,用系统辨识试验得到了转向操纵系统的传递函数,并分析了其频率响应特性。采用该传递函数在Simulink中仿真输出扭矩与实际试验测试扭矩相比,两者非常接近,结果表明用该传递函数控制电机输出转向盘所需阻力矩是可行的,转向操纵系统达到了用于车辆模拟器试验的要求,为通过车辆模拟器试验提供了保证。
然后,分析了转向盘阻力矩与车辆状态参数之间的关系,确定了转向盘阻力矩变化范围。给出了一种可用于车辆模拟器转向盘阻力矩模拟的控制方法,综合考虑了车辆行驶垂面状态、路面属性、车速、转向盘转角、侧向加速度等状态参数对转向盘阻力矩的影响,在Simulink中分别对状态参数控制器进行了仿真验证。将该控制方法应用于转向操纵系统结合车辆模拟器进行了试验,结果表明该方法模拟出的转向盘阻力矩能较好地反映出车辆状态的变化,使驾驶员对车辆状态的掌握更清晰全面。
最后,基于转向操纵系统研究了一种变传动比控制方法。简要概述了变传动比系统的实现形式与其控制方式。进而提出了模糊控制的变传动比反馈方法,设计了变传动比模糊控制器与横摆角速度反馈系数模糊控制器,并分别进行了仿真,结果表明2种控制器的效果明显。将变传动比反馈方法应用于转向操纵系统,结合车辆模拟器进行了双移线试验、蛇形试验和转向瞬态响应试验,并比较了采用该方法与定传动比控制时的人—车综合性能指标,进一步讨论了用车辆稳定性与路径跟踪准确性2种不同方式确定权重时的试验结果。以上试验结果均表明,变传动比反馈方法能降低驾驶员操纵负担,同时优化车辆稳定性,显著改善了人—车综合性能指标,该方法是有效的,具有一定应用价值。
The system formed by driver and vehicle is a kind of closed loop control system, called human-vehicle closed loop system (HVCLS). At present, most theoretical research on steering operating system of HVCLS is done by numerical simulation, due to driver's feeling, judg-ment and action is difficult to describe completely by mathematical model, numerical simula-tion with driver model takes less consideration of human factors, so it is less effective and li-mited in some range. Directly using real vehicle experiment has some disadvantage on high cost, long cycle, limitation of ground and weather, safety problem, pollution of environment and so on. Therefore, driver's online experiment in vehicle simulator is an effective way to study steering opearting problems of HVCLS. Combined with research project of MME that our group undertake, on the basis of developing a high fidelity vehicle simulator, key points of this paper are focus on steering wheel torque simulation and changeable steering ratio control method about steering operating system, experimental study is carried on vehicle simulator in different working condition, some analysis and evaluation is made with experiment result. Research result of this paper can provide certain guidance of real vehicle steering operating system design.
Firstly, the features and key technologies of semi-physical vehicle simulator with6de-grees freedom of motion platform is described, which can provide a platform for further simu-lation and experiment. The function of steering operating system is analyzed, hardware struc-ture and processing procedure is designed. Based on above content, three research aspects of steering operating system are proposed.
Secondly, the theoretical model of steering operating system is established, some simpli-fication are made according to its working condition of low frequency and locked rotor, sys-tem identification test is set to get the transfer function of steering operating system, frequency response characteristic is analyzed. This transfer function is used in SIMULINK to get torque output, compared with actual test torque output, two outputs are very close, the result indicates that applying this transfer function to control motor to generate required torque is feasible, the designed steering operating system meets the requirement of vehicle simulator experiment.
Then, the relation of steering wheel torque and vehicle state parameters is analyzed, the range of steering wheel torque is confirmed. A steering wheel torque simulation control me-thod for vehicle simulator is proposed. Vehicle vertical state, road contact property, speed, steering angle and lateral acceleration is all taken into consideration. Each state parameter controller is simulated in SIMULINK. This method is set to steering operating system and ve-hicle simulator experiment is made. The result indicates that torque generated by this method can well present vehicle state change and let driver know it more clearly and completely.
At last, a changeable steering ratio control method based on steering operating system is studied. The realization form and control principle of changeable steering ratio system is simply introduced. A fuzzy control changeable steering ratio feedback method is described, fuzzy controller of changeable steering ratio and yaw rate feedback factor is designed, simula-tion result shows that effect of two controllers are obvious. This method is taken to steering operating system, double shift line, serpentine and steering transient response experiment is set in vehicle simulator. The human-vehicle comprehensive performance index (HVCPI) of this method and const steering ratio is compared. Further discussion of two different weight selec-tion including vehicle stability and trajectory tracking accuracy is made to evaluate experiment result. The above experiment result all indicates that this method can reduce the burden of driver and optimize vehicle stability at the same time, HVCPI is improved significantly, this method is feasible and worthy for application.
首先,阐述了具有6自由度运动平台半实物车辆模拟器的特性及关键技术,为后续仿真和试验提供了平台。分析了转向操纵系统的功能,设计了其组成结构与工作流程,在此基础上提出了关于转向操纵系统3个方面的研究内容,为后文研究作了铺垫。
其次,建立了转向操纵系统的理论模型,根据其低频、堵转的工作特性作出了一定简化,用系统辨识试验得到了转向操纵系统的传递函数,并分析了其频率响应特性。采用该传递函数在Simulink中仿真输出扭矩与实际试验测试扭矩相比,两者非常接近,结果表明用该传递函数控制电机输出转向盘所需阻力矩是可行的,转向操纵系统达到了用于车辆模拟器试验的要求,为通过车辆模拟器试验提供了保证。
然后,分析了转向盘阻力矩与车辆状态参数之间的关系,确定了转向盘阻力矩变化范围。给出了一种可用于车辆模拟器转向盘阻力矩模拟的控制方法,综合考虑了车辆行驶垂面状态、路面属性、车速、转向盘转角、侧向加速度等状态参数对转向盘阻力矩的影响,在Simulink中分别对状态参数控制器进行了仿真验证。将该控制方法应用于转向操纵系统结合车辆模拟器进行了试验,结果表明该方法模拟出的转向盘阻力矩能较好地反映出车辆状态的变化,使驾驶员对车辆状态的掌握更清晰全面。
最后,基于转向操纵系统研究了一种变传动比控制方法。简要概述了变传动比系统的实现形式与其控制方式。进而提出了模糊控制的变传动比反馈方法,设计了变传动比模糊控制器与横摆角速度反馈系数模糊控制器,并分别进行了仿真,结果表明2种控制器的效果明显。将变传动比反馈方法应用于转向操纵系统,结合车辆模拟器进行了双移线试验、蛇形试验和转向瞬态响应试验,并比较了采用该方法与定传动比控制时的人—车综合性能指标,进一步讨论了用车辆稳定性与路径跟踪准确性2种不同方式确定权重时的试验结果。以上试验结果均表明,变传动比反馈方法能降低驾驶员操纵负担,同时优化车辆稳定性,显著改善了人—车综合性能指标,该方法是有效的,具有一定应用价值。
The system formed by driver and vehicle is a kind of closed loop control system, called human-vehicle closed loop system (HVCLS). At present, most theoretical research on steering operating system of HVCLS is done by numerical simulation, due to driver's feeling, judg-ment and action is difficult to describe completely by mathematical model, numerical simula-tion with driver model takes less consideration of human factors, so it is less effective and li-mited in some range. Directly using real vehicle experiment has some disadvantage on high cost, long cycle, limitation of ground and weather, safety problem, pollution of environment and so on. Therefore, driver's online experiment in vehicle simulator is an effective way to study steering opearting problems of HVCLS. Combined with research project of MME that our group undertake, on the basis of developing a high fidelity vehicle simulator, key points of this paper are focus on steering wheel torque simulation and changeable steering ratio control method about steering operating system, experimental study is carried on vehicle simulator in different working condition, some analysis and evaluation is made with experiment result. Research result of this paper can provide certain guidance of real vehicle steering operating system design.
Firstly, the features and key technologies of semi-physical vehicle simulator with6de-grees freedom of motion platform is described, which can provide a platform for further simu-lation and experiment. The function of steering operating system is analyzed, hardware struc-ture and processing procedure is designed. Based on above content, three research aspects of steering operating system are proposed.
Secondly, the theoretical model of steering operating system is established, some simpli-fication are made according to its working condition of low frequency and locked rotor, sys-tem identification test is set to get the transfer function of steering operating system, frequency response characteristic is analyzed. This transfer function is used in SIMULINK to get torque output, compared with actual test torque output, two outputs are very close, the result indicates that applying this transfer function to control motor to generate required torque is feasible, the designed steering operating system meets the requirement of vehicle simulator experiment.
Then, the relation of steering wheel torque and vehicle state parameters is analyzed, the range of steering wheel torque is confirmed. A steering wheel torque simulation control me-thod for vehicle simulator is proposed. Vehicle vertical state, road contact property, speed, steering angle and lateral acceleration is all taken into consideration. Each state parameter controller is simulated in SIMULINK. This method is set to steering operating system and ve-hicle simulator experiment is made. The result indicates that torque generated by this method can well present vehicle state change and let driver know it more clearly and completely.
At last, a changeable steering ratio control method based on steering operating system is studied. The realization form and control principle of changeable steering ratio system is simply introduced. A fuzzy control changeable steering ratio feedback method is described, fuzzy controller of changeable steering ratio and yaw rate feedback factor is designed, simula-tion result shows that effect of two controllers are obvious. This method is taken to steering operating system, double shift line, serpentine and steering transient response experiment is set in vehicle simulator. The human-vehicle comprehensive performance index (HVCPI) of this method and const steering ratio is compared. Further discussion of two different weight selec-tion including vehicle stability and trajectory tracking accuracy is made to evaluate experiment result. The above experiment result all indicates that this method can reduce the burden of driver and optimize vehicle stability at the same time, HVCPI is improved significantly, this method is feasible and worthy for application.
引文
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