摘要
为防止FSEC赛车在行驶过程中发生侧滑、甩尾现象,针对双电机独立驱动方程式赛车,提出了利用横摆角速度进行模糊PI控制方法。确定整车横摆力矩分层控制结构,设计了模糊控制器和规则制动力分配方法。模糊控制器根据期望的横摆角速度值和实际的横摆加速度决策出所需的附加横摆力矩,并通过制动力分配方法进行差动驱动实现。应用CarSim搭建车体模型,应用CarSim与MATLAB/Simulink联合仿真对控制方法进行了仿真验证。结果表明:利用横摆角速度控制的横摆力矩模糊PI控制方法可以使赛车按照车手的期望路径稳定行驶,有效提高赛车行驶稳定性。
In order to prevent the FSEC vehicle from slipping and tailing during driving, a fuzzy PI control method using yaw rate is proposed for the two-motor independent driving formula car. The hierarchical control structure of the vehicle yaw moment is determined, and the fuzzy controller and the regular braking force distribution method are designed. The fuzzy controller determines the required additional yaw moment according to the desired yaw rate value and the actual yaw acceleration, and implements differential driving by the braking force distribution method. The body model was built by CarSim, and the control method was simulated by CarSim and MATLAB/ Simulink. The results show that the yaw moment fuzzy PI control method controlled by the yaw rate can make the car run stably according to the expected path of the driver and effectively improve the driving stability of the car.
作者
高青云
李刚
Gao Qingyun;Li Gang(School of Automotive and Transportation Engineering, Liaoning University of Technology, Jinzhou City, Liaoning Province 121001, China)
出处
《农业装备与车辆工程》
2019年第8期10-12,共3页
Agricultural Equipment & Vehicle Engineering
基金
国家自然科学基金资助项目（51675257）
辽宁省重大科技平台项目（JP2016003)
关键词
方程式赛车
横摆力矩
模糊控制
仿真
制动力分配
formula racing car
yaw torque
fuzzy control
simulation
distribution of braking force
