2013 8 32 8 Mechanical Science and Technology for Aerospace Engineering August Vol. 32 2013 No. 8 庄 佳 琪, 文 桂 林, 周 景 宇 410082 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 U461. 6 A 1003-8728 2013 08-1103-05 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 410082 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% 1 2 3 4 Patwardhan 5 2012-07-07 531105050037 61075003 4 LQR 6 1989 - Jackie - Z11 @ 126. com wenguilin@ yahoo. com. cn
1104 32 7 LQR LQR LQR UniTire μ 10 y UA-Tire μ y 20 UA- Tire 1 CarSim 2 v y LQR 8 9 Simlink 1 1. 1 UA-Tire 9 UniTire UA-Tire 10 2 UniTire UA-Tire C α C s F z = 2 500 N μ max = 1. 1 μ min = 0. 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. 5 μ max = μ min = 20 1. 1 2 1. 3 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 = 2 000 N /mm R e = 203 mm f k z R e 1. 2 1 100 km /h 5 s
8 1105 3 ΔM = ΔM 0 + ΔM k + ΔM b + ΔM 2 2. 2 7 3 11 k 0 1 k 19 5 2 100 km /h 2 s 0. 5 s 60 4 2 4 9 ΔM 0 = k p 3 0. 8 - k Δβ - 7 k Δr 3 k k p 10 4 v x β k v x 0 40 m /s 5 β 0 12 4 2 10 ~ 12 2. 1 1 β r 2 3 4 5 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
1106 1 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 6 3 4 1. 3 3 1. 3 3. 1 1. 3 1 α 0 = 3 3 7 3. 2 100 km /h2 s 90 5 s α 0 = 3 7
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