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Alternative TitleStudy on Model-Based Vehicle Safety Warning and Control
Thesis Advisor王飞跃
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword汽车安全 轮胎模型 智能轮胎 汽车模型 转向稳定控制 Vehicle Safetytire Modelintelligent tireVehicle Modelcornering Stability Control
Abstract作为现代社会中的主要代步工具,汽车深刻改造了人们的生活,同时也带来 了很多问题,其中汽车安全是最不容忽视的。随着电子信息技术和现代控制理论 在汽车产业的结合渗透,汽车安全控制领域的新概念和方法层出不穷。本文在学 习汽车动力学理论和总结该领域最新研究进展的基础上,运用基于模型分析的现 代控制理论和技术从预警、控制两个层次对改进汽车运动安全性能作了初步研 究。注意到轮胎故障是导致交通事故的重要因素,作者讨论了轮胎的动力学特性, 重点分析比较了Pacejika,CRREL等静态轮胎模型与最近提出的LuGre纵向动态 轮胎模型及其衍生模型的优缺点,并基于此发展了一个2D基于LuGre的轮胎模 型。通过对该模型与经典车身模型组成的混合汽车动力学模型的仿真研究,可以 看到新的2D轮胎模型不仅结构相对简单且完整反应了轮胎的主要纵、侧向动力 学特性。同时文中在分析现代汽车的一般行驶条件后,合理地重新定义了LuGre 模型参数,并利用Lyapunov方法实现了轮胎故障报警器的设计。在安全控制方 面,作者注意到转向稳定是汽车运动安全的常见问题,因此主要讨论了该领域的 概念和方法,分析了四轮转向4WS、四轮驱动4WD、主动悬挂ASC在汽车转 向过程中实现协调控制的可能性,最后在建立四轮操作4WO双轨汽车模型的基 础上设计了基于4WO模型的汽车转向稳定模糊控制器,初步验证了该方法的可 行性。
Other AbstractAs the main transportation tools in the modem society, automobiles have greatly improved the human life and also brought some problems, among which vehicle safety most "deserves intention. With the application of the electronic and information technology and modem control theory on the car industry, many new concepts and methods enhancing vehicle safety have been proposed. In this paper, based on the study of vehicle dynamics and the newest developments in this area, we will carry out the research on the design of vehicle safety systems at both warning and control levels. Noticing the tire fault is one important factor inducing traffic accidents, the paper will discuss the tire dynamics with focusing on the analysis and comparison of the static tire model, such as the well-known "Magic Formula" and CRREL model, and the dynamic longitudinal LuGre tire model. Based on this, the paper will develop a new 2D tire model. From the simulation research on the hybrid vehicle model which incorporating the new 2D tire model and classic vehicle model together, we will see the new tire model captures all the main longitudinal and lateral dynamic characteristics and is suitable for real-time control systems design. Furthermore, after the analysis of the normal driving situations, we will reasonably redefine the variables of the LuGre model and design a tire fault warning system using Lyapunov methods. On the other hand, at the safety control level, by noticing that cornering stability is the most common problem encountered by vehicles, the paper will summarize the newest concepts and methods in this area and present the benefits to incorporate the four-wheel steering, four-wheel driving and active suspension control to one concerted cornering control system. According to such an idea, the paper will construct a four-wheel operating (4WO) vehicle model and design a fuzzy come ring stability controller to preliminarily verify the availability of the method.
Other Identifier758
Document Type学位论文
Recommended Citation
GB/T 7714
周群植. 基于模型的汽车安全预警和控制研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2004.
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