LQR LQR LQR UniTire μ 10 y UA-Tire μ y 20 UA- Tire 1 CarSim 2 v y LQR 8 9 Simlink UA-Tire 9 UniTire UA-Tire 10 2 UniTire UA-Tire C α

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1 Mechanical Science and Technology for Aerospace Engineering August Vol No. 8 庄佳琪, 文桂林, 周景宇为控制爆胎车辆的稳定性, 基于 UA-Tire 理论模型建立了爆胎轮胎模型, 并通过修改该轮胎模型参数建立了轮辋触地模型, 将此两种模型载入 CarSim 构建爆胎车辆模型结合传统稳定性控制方法, 设计了模糊控制器, 对爆胎车辆模型的附加横摆力矩进行非线性控制以 100 km /h 直线弯道行驶爆胎及爆胎急转向工况为例, 利用 CarSim 与 Simulink 进行了联合仿真, 结果表明 : 建立的轮辋触地模型能够模拟触地时车轮的力学性能 ; 设计的控制器有效控制了爆胎车辆的侧向位移横摆角速度与车身侧倾角等, 并防止了轮辋触地稳定性 ; 爆胎轮胎 ; 模糊控制器 ; 横摆力矩 U A Stability Control of Vehicle with Blown-out Tire Zhuang Jiaqi Wen Guilin Zhou Jingyu State Key Laboratory of Advanced Design and Manufacture for Vehicle Body Hunan University Changsha Abstract To improve the stability of vehicle after tire blow-out a flat tire model is established by using UA-Tire model and a mechanical model of the rim touched ground is also simulated by changing parameters in UA-Tire model. Then by importing the two models to CarSim a whole vehicle model after tire burst is built. Furthermore based on traditional analysis of vehicle stability a fuzzy controller is designed to control the yaw moment of the vehicle. The two models and the controller are tested by co-simulation of CarSim and Simulink under three working conditions-straight and curve driving at 100 km /h when tire blows out and steering sharply after tire deflated. The results indicate that the model of rim touched ground can qualitatively describe mechanical properties of the wheel. The lateral displacement yaw rate and roll angle can be efficiently controlled by the designed controller so that the situation of rim touching ground can be prevented. Key words tires vehicles computer simulation computer software control fuzzy control fuzzy sets mathematical models membership functions stability blown-out tire yaw moment 70% Patwardhan LQR Jackie com wenguilin@ yahoo. com. cn

了模糊控制器, 对爆胎车辆模型的附加横摆力矩进行非线性控制以 100 km /h 直线弯道行驶爆胎及爆胎急转向工况为例, 利用 CarSim 与 Simulink 进行了联合仿真, 结果表明 : 建立的轮辋触地模型能够模拟触地时车轮的力学性能 ;

2 LQR LQR LQR UniTire μ 10 y UA-Tire μ y 20 UA- Tire 1 CarSim 2 v y LQR 8 9 Simlink UA-Tire 9 UniTire UA-Tire 10 2 UniTire UA-Tire C α C s F z = N μ max = 1. 1 μ min = γ = 0 C α = N /rad C s = N /rad C α C s 25% 28% 9 1 α μ y α = arctan v y /v x 1 v x α μ max = μ min = 0. 5 μ max = μ min = CarSim Sedan Big FWD α 0 = 3 Big Car-245 /75 R16 1 f = 0. 3 k z = 400 N /mm R e = C α C s 210 mm f = 0 k z = N /mm R e = 203 mm f k z R e km /h 5 s

78 γ = 0 C α = 6 10 4 N /rad C s = 8 10 4 N /rad C α C s 25% 28% 9 1 α 0 3 4 μ y α = arctan v y /v x 1 v x α μ max = μ min = 0.

3 ΔM = ΔM 0 + ΔM k + ΔM b + ΔM k 0 1 k km /h 2 s 0. 5 s ΔM 0 = k p k Δβ - 7 k Δr 3 k k p 10 4 v x β k v x 0 40 m /s 5 β ~ β r ABS 5 7 ΔM 0 ΔM k 1 1 v x ΔM b β k 3 ΔM 0 ΔM α Δβ β k v x

4 v x ZE S M B L ZE M 4 B 1 B 3 B 5 L S 1 M 3 M 5 B 2 B 4 B 6 S 2 M 2 M 4 B 1 B 3 B 5 S 3 M 1 M 3 M 5 B 2 B 4 M 1 S 6 M 2 M 4 B 1 B 3 M 2 S 5 M 1 M 3 M 5 B 2 M 3 S 4 S 6 M 2 M 4 B 1 B 1 S 3 S 5 M 1 M 3 M 5 B 2 S 2 S 4 S 6 M 2 M 4 B 3 S 1 S 3 S 5 M 1 M 3 L ZE S 2 S 4 S 6 M 2 32 ΔM 0 ΔM k CΔβ C 7 3 Δβ ΔM k ΔM b ΔM α 7 ΔM ΔP 2. 3 Carsim Simulink 6 2DOF CarSim ΔM ΔP ABS δ P 0 s α 0 = km /h2 s 90 5 s α 0 = 3 7

2 M 4 B 3 S 1 S 3 S 5 M 1 M 3 L ZE S 2 S 4 S 6 M 2 32 ΔM 0 ΔM k CΔβ C 7 3 Δβ ΔM k ΔM b ΔM α 7 ΔM ΔP 2.

5 UA-Tire α 0 = J ~ 57 2 Orengo F et al. Plaxico. Modeling tire blow-out in roadside hardware simula-tion using Ls-dyna A ASME Internation Mechanical Engineering Congress C Bythe W Day T D Grimes W D. 3-dimensional Simulation of Vehicle Response to Tire Blow-outs R. SAE Paper J ~ Patwardhan S Tomizuka M Zhang W B et al. Theory and experiments of tire blow-out effect and hazard reduction control for automated vehicle lateral control system A. American Control Conference C IEEE ~ D J ~ PID J ~177 9 MSC Software Corporation. ADAMS /Tire 2005 r2 Help Chapter UA-Tire S Carsim UniTire D Chung T Yi K. Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track J. IEEE Transactions on Control Systems Technology ~ ESP J ~ 22 9

2007 29 12 1041 ~ 1045 5 Patwardhan S Tomizuka M Zhang W B et al. Theory and experiments of tire blow-out effect and hazard reduction control for automated vehicle lateral control system A.

/MPa / kg m - 3 /MPa /MPa 2. 1E ~ 56 ANSYS 6 Hz (a) 一阶垂向弯曲 (b) 一阶侧向弯曲 (c) 一阶扭转 (d) 二阶侧向弯曲 (e) 二阶垂向弯曲 (f) 弯扭组合 2 6 Hz

/MPa / kg m - 3 /MPa /MPa 2. 1E ~ 56 ANSYS 6 Hz (a) 一阶垂向弯曲 (b) 一阶侧向弯曲 (c) 一阶扭转 (d) 二阶侧向弯曲 (e) 二阶垂向弯曲 (f) 弯扭组合 2 6 Hz 31 3 Vol. 31 No. 3 218 9 Journal of Shijiazhuang Tiedao University Natural Science Edition Sep. 218 1 1 2 1 2 1 1. 543 2. 543 U462. 3 217-2 - 16 A 295-373 218 3-63 - 6 1-4 5-7 8-11 1 11 11 398 mm 86 mm