车辆转向统一动力学模型及模型跟踪控制

CORC > 集美大学

	车辆转向统一动力学模型及模型跟踪控制
	张小江 ; 高秀华 ; 王云超
刊名	http://epub.edu.cnki.net/grid2008/brief/detailj.aspx?filename=nygu200911033&dbcode=CJFQ&dbname=CJFQ2009
	2012-06-05 ; 2012-06-05
关键词	车辆转向动力学模型零侧偏角模型跟踪控制 vehicles steering dynamic models zero-sideslip-angle model-following control U461.1
其他题名	Unified dynamical model of vehicle steering and model-following control
中文摘要	为将两轴车辆控制算法应用于多轴车辆,该文在多轴转向车辆二自由度动力学模型的基础上,建立了多轴转向车辆和两轴车辆的统一动力学模型;在此统一动力学模型的基础上可通过对任两轴车轮的控制就能实现对多轴转向车辆的控制。同时根据零侧偏角控制策略构建了多轴车辆的动力学理想模型;对前轮机械转向和前轮电控转向的多轴转向车辆,分别设计了基于模型跟踪的控制系统并进行了分析。分析结果表明,采用统一动力学模型、零侧偏角控制策略和模型跟踪控制方法,控制系统调整方便且较易实现,也能达到理想的控制效果。; In order to apply the control algorithm of two-axle steering vehicle to multi-axle steering vehicle,the model of multi-axle steering vehicle and the model of two-axle steering vehicle were unified into a single model based on dynamic model of a two degree-of-freedom model for the multi-axle steering vehicle.Using the unified steering dynamical model, the multi-axle steering vehicle could be commanded by controlling wheels of any two axles.The ideal dynamic model of multi-axle steering vehicle was founded based on the zero-sideslip-angle control strategy.The control systems of multi-axle steering vehicle with front-wheel mechanical steering and front-wheel electric steering were designed and analyzed based on the model-following control.The results indicated that the control system could be adjusted and actualized easily with the obvious effect if the unified steering dynamical model was combined with the zero-sideslip-angle and the model-following control.; 【作者单位】吉林大学机械科学与工程学院；集美大学机械工程学院；【作者英文名】Zhang Xiaojiang 1 ,Gao Xiuhua 1,Wang Yunchao 2 (1.College of Mechanical Science and Engineering,Jilin University,Changchun 130022,China; 2.College of Mechanical Engineering,Jimei University,Xiamen 361021,China)
语种	中文
内容类型	期刊论文
源URL	[http://ir.calis.edu.cn/hdl/235041/14545]
专题	集美大学
推荐引用方式 GB/T 7714	张小江,高秀华,王云超. 车辆转向统一动力学模型及模型跟踪控制[J]. http://epub.edu.cnki.net/grid2008/brief/detailj.aspx?filename=nygu200911033&dbcode=CJFQ&dbname=CJFQ2009,2012, 2012.
APA	张小江,高秀华,&王云超.(2012).车辆转向统一动力学模型及模型跟踪控制.http://epub.edu.cnki.net/grid2008/brief/detailj.aspx?filename=nygu200911033&dbcode=CJFQ&dbname=CJFQ2009.
MLA	张小江,et al."车辆转向统一动力学模型及模型跟踪控制".http://epub.edu.cnki.net/grid2008/brief/detailj.aspx?filename=nygu200911033&dbcode=CJFQ&dbname=CJFQ2009 (2012).