拖挂式房车制动控制策略的研究
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摘要
随着人们生活水平的不断提高,房车旅游越来越多的成为人们选择的旅游休闲方式。对房车而言,拖挂式房车因其内部设施完善,居住环境舒适等优点更受到人们青睐。在拖挂式房车备受欢迎的同时,其行驶安全性问题得到了极大的关注。制动性能作为影响拖挂式房车行驶安全性的关键因素,更是人们关注的焦点。基于此,本文对拖挂式房车的制动稳定性和行驶稳定性进行了探讨和研究。
本文以汽车高等动力学的理论方法为基础,建立了八自由度拖挂式房车制动数学模型,并应用Matlab/Simulink仿真软件搭建了仿真模型。通过拖挂式房车的侧向稳定性试验和弯道制动稳定性试验,验证了该模型的合理性和正确性。应用正确的仿真模型,研究了拖挂式房车制动力的合理匹配关系,对提高其直线制动稳定性和弯道制动稳定性都起到了很好的效果。在研究拖挂式房车制动匹配的基础上,应用差值制动控制横摆力矩的控制原理,提出了以横摆角加速度为控制目标的制动控制策略,初步实现了拖挂式房车的主动安全性。
在本文的整个研究过程中,以仿真研究为核心,并且结合相关的试验研究,初步实现了对拖挂式房车制动力匹配的研究,验证了差动制动控制策略的可行性,这对于改善拖挂式房车制动稳定性和行驶稳定性,都具有很大的现实意义,为进一步研究拖挂式房车的制动控制打下了坚实的基础。
With the improvement of human life, trailer travel has been selected for leisure. Travel trailer is more favorable because of its perfect inner furnishments and comfortable living conditions. However, much attention has also been paid to its driving safety. Brake performance, as one of key factors affecting steering security of travel trailer, is much more a focus. So in this paper some researches have been done on brake performance stability and steering stability.
Based on the basic principle of automotive kinematics, this 8-DOF braking mathematics model of travel trailer is established, and then the simulation model is founded by Matlab/Simulink. The rationality and accuracy of this mathematics model is validated by two tests which are lateral stability test and turn-in braking stability test. In view of this rational model, the reasonable matching relationship of braking force which is between tractor and trailer is put forward can improve braking stability. Afterwards, based on the control principle of different braking controlling yaw moment, and yaw moment acted as control aim, a braking control strategy is brought forward. Consequently, the braking control strategy achieves active safety of travel trailer.
In the course of the whole researches, simulation research and pertinent experiments are depended on, then achieve the reasonable matching relationship of braking force which is between tractor and trailer. Afterwards, the feasibility of differential braking control strategy is validated by simulation. All these researches, it has realistic significance to improve the braking stability and manipulative stability of travel trailer.
本文以汽车高等动力学的理论方法为基础,建立了八自由度拖挂式房车制动数学模型,并应用Matlab/Simulink仿真软件搭建了仿真模型。通过拖挂式房车的侧向稳定性试验和弯道制动稳定性试验,验证了该模型的合理性和正确性。应用正确的仿真模型,研究了拖挂式房车制动力的合理匹配关系,对提高其直线制动稳定性和弯道制动稳定性都起到了很好的效果。在研究拖挂式房车制动匹配的基础上,应用差值制动控制横摆力矩的控制原理,提出了以横摆角加速度为控制目标的制动控制策略,初步实现了拖挂式房车的主动安全性。
在本文的整个研究过程中,以仿真研究为核心,并且结合相关的试验研究,初步实现了对拖挂式房车制动力匹配的研究,验证了差动制动控制策略的可行性,这对于改善拖挂式房车制动稳定性和行驶稳定性,都具有很大的现实意义,为进一步研究拖挂式房车的制动控制打下了坚实的基础。
With the improvement of human life, trailer travel has been selected for leisure. Travel trailer is more favorable because of its perfect inner furnishments and comfortable living conditions. However, much attention has also been paid to its driving safety. Brake performance, as one of key factors affecting steering security of travel trailer, is much more a focus. So in this paper some researches have been done on brake performance stability and steering stability.
Based on the basic principle of automotive kinematics, this 8-DOF braking mathematics model of travel trailer is established, and then the simulation model is founded by Matlab/Simulink. The rationality and accuracy of this mathematics model is validated by two tests which are lateral stability test and turn-in braking stability test. In view of this rational model, the reasonable matching relationship of braking force which is between tractor and trailer is put forward can improve braking stability. Afterwards, based on the control principle of different braking controlling yaw moment, and yaw moment acted as control aim, a braking control strategy is brought forward. Consequently, the braking control strategy achieves active safety of travel trailer.
In the course of the whole researches, simulation research and pertinent experiments are depended on, then achieve the reasonable matching relationship of braking force which is between tractor and trailer. Afterwards, the feasibility of differential braking control strategy is validated by simulation. All these researches, it has realistic significance to improve the braking stability and manipulative stability of travel trailer.
引文
[1]Dwyer M J.The braking performance of tractor-trailer combinations.Journal of Agricultural Engineering Research,1970,15(2):148-162
[2]Hales F.D.Lateral stability problems of simply articulated vehicles,Recent Progress in the Mechanics of Linear Vibrations,IUSM Symposium,Paris,1965,17-34,
[3]Bundorf R.T.Directional control dynamics of automobile-travel combinations,SAE paper,1967,No.670099
[4]Kurtz E.F.,Anderson R.J.Handling characteristics of car-trailer systems.A state-of-the-art survey,Vehicle System Dynamics,6(4):217-243,1976
[5]Beven B.G.,Smith N.P.and Ashley C.Some factors influencing the stability of car/caravan combinations,Road Vehicle Handling,I.Mech.E.Conf.Publ,1983-5,MEP,London,221-227
[6]Kimbrough S.,VanMoorhem W.,A control strategy for stabilizing trailers via selective application of brakes,ASME DSC-44,Advanced Automotive Technologies,1992,413-428
[7]Lugner P.,Pl(o|¨)chl M.,Riepl A.Investigation of passenger car-trailer dynamics controlled by additional braking of the trailer.Proc.AVEC'96,Vol.2,Aachen University of Technology,1996,763-778
[8]M.A.Alonso Fernandez,R.S.Sharp.Caravan active braking system-effective stabilization of snaking of combination vehicles.SAE paper,2001,No.013188
[9]Pahngroc Oh,Hao Zhou and,Kevin Pavlov.Stability control of combination vehicle.SAE paper,2001,No.010138
[10]John M.,Williams Jr.Trailer stabilization through active braking of the towing vehicle.SAE paper,2004,No.011069
[11]李源孰.用线性回归方法计算半挂汽车列车制动力分配和同步附着系数.公路交通科技.1991,8(3):36-42
[12]侯建章,沈昌娟.牵引车与挂车间制动协调分析.专用汽车.1992.2,50-57
[13]徐达,吴伟蔚.半挂汽车列车轴间制动力分配的优化设计.武汉汽车工业大学学报.1996.2,18(1):1-5
[14]夏长高.半挂汽车列车转弯制动性能的模拟计算.江苏理工大学学报.1997.1,18(1):50-55
[15]潘公宇.半挂汽车列车制动性能的研究.江苏理工大学学报.1997.4,18(4):17-23
[16]何三全.半挂汽车列车附着系数的分析与制动力分配系数.汽车工程.1997,19(1):34-40
[17]蒋丰,洪岩,王铁光,贾书惠.半挂汽车列车高速行驶转弯制动特性分析.东北大学学报(自然科学版).1998.12,19(6):652-655
[18]吕安涛.半挂汽车列车制动稳定性分析.专用汽车,2002(3):3-4
[19]王德杉,谢进荣.半挂汽车列车转向特性的线性五自由度模拟计算及实验研究.江苏工学院 学报,1989,10(1):10-19
[20]蒋丰,洪岩,王铁光,贾书惠.国产EQ140K半挂汽车列车转弯性能分析.东北大学学报(自然科学版).2000.4,21(2):229-232
[21]Manfred Pl(o|¨)chl,Peter Lugner.Passenger Car and Passenger Car-Trailer-different tasks for the driver.JSAE Review.20(1999):543-548
[22]Weiwen Deng and Yong H.Lee,Ming Tian.An Integrated Chassis Control for Vehicle-Trailer Stability and Handling Performance.SAE Paper,2004,No.012046
[23]Weiwen(Kevin) Deng,Xiaodi Kang.Parametric Study on Vehicle-Trailer Dynamics for Stability Control.SAE Paper,2003,No.011321
[24]郭孔辉.汽车操纵动力学.长春:吉林科学技术出版社,1991.
[25]Bakker E,Nyborg L,Pacejka H B.Tyre Modeling for Use in Vehicle Dynamic studies.SAE paper No.870421,1987.
[26]F.W.Kienh(o|¨)fer,D.Cebon.An Investigation of ABS Strategies for Articulated Vehicles.Cambridge University Engineering Department,United Kingdom.
[27]International Standard.ISO 9815,Road vehicles-Passenger-car and trailer combinations-Lateral stability test.International Organization for Standardization,2003
[28]International Standard.ISO 7975,Passenger cars-Braking in a turn-Open-loop test procedure.Organization for Standardization,1996
[29]李源孰.合理选择设计参数提高半挂汽车列车的制动稳定性.公路交通科技,1998.6,15(2):57-60
[30]余志生.汽车理论.北京:机械工业出版社,1981
[31][日]安部正人.汽车的运动和操纵.陈幸波译.北京:机械工业出版社,1998
[32][日]小林明.汽车力学.北京:机械工业出版社,1982
[33][德]M.米奇克.汽车动力学C卷.陈荫三译.北京:人民交通出版社,1997
[34]刘藻珍,魏华梁.系统仿真.北京:北京理工大学出版社,1998
[35]王沫然.Simulink4建模及动态仿真.北京:电子工业出版社,2002
[36]张志涌.精通MATLAB 5.3版.北京:北京航空航天大学出版社,2000
[37]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[38]熊光楞,肖田元,张燕云.连续系统仿真与离散事件系统仿真.北京:清华大学出版社,1991
[39]于长官.现代控制理论.哈尔滨:哈尔滨工业大学出版社,1997
[40]王显会,何永,高树滋,史永胜.牵引火炮稳态转向特性研究.南京理工大学学报,2001.2,25(1),21-24
[41]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104
[42]Yoshiyuki Yasui,Kenji Tozu,et al.Improvement of vehicle directional stability for transient steering maneuvers using active brake control.SAE paper,1996,No.960485
[43]Ken Koibuchi,Masaki Yamamoto,et al.Vehicle stability control in limit cornering by active brake.SAE paper,1996,No.960487
[44]祁永宁,陈南,李普.四轮转向车辆的直接横摆力矩控制.东南大学学报(自然科学版).2004,34(4):451-454
[45]王德平,郭孔辉.车辆动力学稳定性控制的控制原理与控制策略的研究.机械工程学报,2000,36(3):97-99
[46]U.Kieneke,L.Nielsen.Automotive control systems.Springer-Verlag,2000
[2]Hales F.D.Lateral stability problems of simply articulated vehicles,Recent Progress in the Mechanics of Linear Vibrations,IUSM Symposium,Paris,1965,17-34,
[3]Bundorf R.T.Directional control dynamics of automobile-travel combinations,SAE paper,1967,No.670099
[4]Kurtz E.F.,Anderson R.J.Handling characteristics of car-trailer systems.A state-of-the-art survey,Vehicle System Dynamics,6(4):217-243,1976
[5]Beven B.G.,Smith N.P.and Ashley C.Some factors influencing the stability of car/caravan combinations,Road Vehicle Handling,I.Mech.E.Conf.Publ,1983-5,MEP,London,221-227
[6]Kimbrough S.,VanMoorhem W.,A control strategy for stabilizing trailers via selective application of brakes,ASME DSC-44,Advanced Automotive Technologies,1992,413-428
[7]Lugner P.,Pl(o|¨)chl M.,Riepl A.Investigation of passenger car-trailer dynamics controlled by additional braking of the trailer.Proc.AVEC'96,Vol.2,Aachen University of Technology,1996,763-778
[8]M.A.Alonso Fernandez,R.S.Sharp.Caravan active braking system-effective stabilization of snaking of combination vehicles.SAE paper,2001,No.013188
[9]Pahngroc Oh,Hao Zhou and,Kevin Pavlov.Stability control of combination vehicle.SAE paper,2001,No.010138
[10]John M.,Williams Jr.Trailer stabilization through active braking of the towing vehicle.SAE paper,2004,No.011069
[11]李源孰.用线性回归方法计算半挂汽车列车制动力分配和同步附着系数.公路交通科技.1991,8(3):36-42
[12]侯建章,沈昌娟.牵引车与挂车间制动协调分析.专用汽车.1992.2,50-57
[13]徐达,吴伟蔚.半挂汽车列车轴间制动力分配的优化设计.武汉汽车工业大学学报.1996.2,18(1):1-5
[14]夏长高.半挂汽车列车转弯制动性能的模拟计算.江苏理工大学学报.1997.1,18(1):50-55
[15]潘公宇.半挂汽车列车制动性能的研究.江苏理工大学学报.1997.4,18(4):17-23
[16]何三全.半挂汽车列车附着系数的分析与制动力分配系数.汽车工程.1997,19(1):34-40
[17]蒋丰,洪岩,王铁光,贾书惠.半挂汽车列车高速行驶转弯制动特性分析.东北大学学报(自然科学版).1998.12,19(6):652-655
[18]吕安涛.半挂汽车列车制动稳定性分析.专用汽车,2002(3):3-4
[19]王德杉,谢进荣.半挂汽车列车转向特性的线性五自由度模拟计算及实验研究.江苏工学院 学报,1989,10(1):10-19
[20]蒋丰,洪岩,王铁光,贾书惠.国产EQ140K半挂汽车列车转弯性能分析.东北大学学报(自然科学版).2000.4,21(2):229-232
[21]Manfred Pl(o|¨)chl,Peter Lugner.Passenger Car and Passenger Car-Trailer-different tasks for the driver.JSAE Review.20(1999):543-548
[22]Weiwen Deng and Yong H.Lee,Ming Tian.An Integrated Chassis Control for Vehicle-Trailer Stability and Handling Performance.SAE Paper,2004,No.012046
[23]Weiwen(Kevin) Deng,Xiaodi Kang.Parametric Study on Vehicle-Trailer Dynamics for Stability Control.SAE Paper,2003,No.011321
[24]郭孔辉.汽车操纵动力学.长春:吉林科学技术出版社,1991.
[25]Bakker E,Nyborg L,Pacejka H B.Tyre Modeling for Use in Vehicle Dynamic studies.SAE paper No.870421,1987.
[26]F.W.Kienh(o|¨)fer,D.Cebon.An Investigation of ABS Strategies for Articulated Vehicles.Cambridge University Engineering Department,United Kingdom.
[27]International Standard.ISO 9815,Road vehicles-Passenger-car and trailer combinations-Lateral stability test.International Organization for Standardization,2003
[28]International Standard.ISO 7975,Passenger cars-Braking in a turn-Open-loop test procedure.Organization for Standardization,1996
[29]李源孰.合理选择设计参数提高半挂汽车列车的制动稳定性.公路交通科技,1998.6,15(2):57-60
[30]余志生.汽车理论.北京:机械工业出版社,1981
[31][日]安部正人.汽车的运动和操纵.陈幸波译.北京:机械工业出版社,1998
[32][日]小林明.汽车力学.北京:机械工业出版社,1982
[33][德]M.米奇克.汽车动力学C卷.陈荫三译.北京:人民交通出版社,1997
[34]刘藻珍,魏华梁.系统仿真.北京:北京理工大学出版社,1998
[35]王沫然.Simulink4建模及动态仿真.北京:电子工业出版社,2002
[36]张志涌.精通MATLAB 5.3版.北京:北京航空航天大学出版社,2000
[37]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[38]熊光楞,肖田元,张燕云.连续系统仿真与离散事件系统仿真.北京:清华大学出版社,1991
[39]于长官.现代控制理论.哈尔滨:哈尔滨工业大学出版社,1997
[40]王显会,何永,高树滋,史永胜.牵引火炮稳态转向特性研究.南京理工大学学报,2001.2,25(1),21-24
[41]郭孔辉,丁海涛.轮胎附着极限下差动制动对汽车横摆力矩的影响.汽车工程,2002,24(2):101-104
[42]Yoshiyuki Yasui,Kenji Tozu,et al.Improvement of vehicle directional stability for transient steering maneuvers using active brake control.SAE paper,1996,No.960485
[43]Ken Koibuchi,Masaki Yamamoto,et al.Vehicle stability control in limit cornering by active brake.SAE paper,1996,No.960487
[44]祁永宁,陈南,李普.四轮转向车辆的直接横摆力矩控制.东南大学学报(自然科学版).2004,34(4):451-454
[45]王德平,郭孔辉.车辆动力学稳定性控制的控制原理与控制策略的研究.机械工程学报,2000,36(3):97-99
[46]U.Kieneke,L.Nielsen.Automotive control systems.Springer-Verlag,2000