半主动悬架与转向集成控制研究.doc

半主动悬架与转向集成控制研究

MATLAB仿真，CARSIM仿真

 

摘 要
目前,国内的汽车底盘集成主要集中在对防抱死制动系统、驱动防滑系统、牵引力控制系统和自动巡航系统的集成上，对汽车上悬架和电动助力转向的集成控制尚不多见。汽车在不同的行驶状态时对悬架有不同的要求，一般行驶时需要软一点的悬架以求舒适感，但是当急转弯和制动时又需要硬一点的悬架以求稳定性，两者之间就是操纵稳定性和平顺性的矛盾。半主动悬架具有控制车身运动的功能,减小汽车制动及转弯时车身位置的变化，直接影响车辆行驶平顺性。电动助力转向提供助力，协助驾驶员调整转向，直接影响操纵的稳定性。据此本文对悬架和转向的集成控制进行了研究，建立了集成控制模型，并在CarSim/Simulink下进行了仿真分析，以期抑制转向时车身姿态的变化，提高车辆动态性能。利用Matlab/Simulink软件构建电动助力转向及集成控制模型，并结合CarSim软件中的整车多体动力学模型，进行集成控制的联合仿真，通过仿真分析并将其与单独悬架控制的模型进行了对比，研究结果验证了所开发模型的正确性，能够用于很好地改善车辆行驶的平顺性和稳定性。

关键词：电动助力转向；半主动悬架；集成控制；仿真

CarSim/Simulink based integration of semi-active suspension and steering control research
ABSTRACT
The current domestic automobile chassis integration is mainly focused on the anti-lock braking system, drivers turn skid system, traction control system and automatic cruise on integrated systems in our country,Integrated control of the vehicle suspension and electric power steering is still rare.The driving state of different cars have different requirements for the suspension,we need to travel a bit soft when the general comfort of the suspension order, when a sharp turn and brake hard time and need a little order to the stability of the suspension,between handling stability and ride comfort is a contradiction.Semi-active suspension control body movements with the function of reducing the change in vehicle braking or cornering body position, exercised directly affect vehicle riding comfort.Electric power steering provides assistance to help the driver to adjust the steering, handling and stability directly affect.According to this article in the integrated control of suspension and steering were studied to establish the integrated control model, and in CarSim / Simulink simulation analysis, in order to suppress the steering body posture changes, improve vehicle dynamic performance.Using Matlab / Simulink software to build an electric power steering and integrated control model, and combined CarSim software vehicle multi-body dynamics model for co-simulation of integrated control,through simulation analysis and compare it with suspension control alone , the results validate the correctness of the developed model can be usedwell to improve vehicle ride comfort and stability through.

Key words：Electric power steering; semi-active suspension; integrated control; Simulation

目  录
1  绪论 - 1 -
1.1 本课题研究背景和目的 - 1 -
1.2 汽车悬架概述 - 1 -
1.2.1悬架的工作原理及其分类 - 1 -
1.2.2国内外SAS应用现状 - 4 -
1.3 EPS电动助力转向的工作原理 - 5 -
1.3.1 EPS电动助力转向的结构组成 - 6 -
1.3.2 EPS电动助力转向的分类 - 7 -
1.3.3 国内外EPS研究现状 - 8 -
1.4 汽车集成控制的研究 - 9 -
1.4.1 集成控制的必要性 - 9 -
1.5 研究内容及主要目的 - 10 -
1.5.1 研究目的 - 10 -
1.5.2 研究的主要内容 - 10 -
2  集成控制理论基础及软件概述 - 11 -
2.1集成控制原理 - 11 -
2.2 CarSim软件 - 11 -
2.2.1 CarSim软件介绍 - 11 -
2.2.2  CarSim 在车辆动力学研究中的应用 - 12 -
2.3 模糊控制器设计 - 13 -
2.3.1 模糊控制简介 - 13 -
2.3.2 模糊控制器的结构 - 14 -
2.3.3 模糊控制器的设计 - 14 -
3  半主动悬架与EPS集成系统建模 - 18 -
3.1 集成系统的转向运动模型 - 18 -
3.2 侧倾运动模型 - 19 -
3.3垂直与俯仰运动模型 - 20 -
3.4 半主动悬架模型 - 21 -
3.5 轮胎模型 - 21 -
3.6 路面模型 - 22 -
3.7 电动助力转向模型 - 22 -
3.8 集成系统模型 - 23 -
3.9 系统的状态方程 - 25 -
4  仿真计算和结果分析 - 30 -
4.1 Matlab仿真和结果分析 - 30 -
4.2 CarSim与Matlab的联合仿真 - 32 -
总结 - 37 -
全文总结 - 37 -
未来工作展望及建议 - 37 -
致谢 - 39 -
参考文献 - 40 -