窄轨倾斜车辆的建模与仿真

J. Chong, J. Marco, D. Greenwood
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引用次数: 1

摘要

窄轨倾斜车辆是一种集乘用车和摩托车动力性能于一体的新型车辆。在转弯过程中存在倾覆力矩的情况下,准确评估横向动力学对提高车辆的稳定性和操控性起着重要作用。为了稳定或控制窄倾车辆,可以从车辆的横向加速度计算所需倾斜角,并通过车辆的转向输入或使用附加的倾斜角执行器来控制该倾斜角。本文的目的是提出一种建立窄轨倾斜车辆横向动力学模型的新方法。首先,该方法利用了众所周知的几何“自行车模型”和参数估计方法。其次,通过使用调谐方法,考虑未知和不确定性,并通过优化程序进行调节,以最小化模型偏差,以提高建模精度。因此,优化后的模型可以作为制定车辆控制策略的平台。通过数值模拟与实验数据对比,验证了模型的准确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modelling and simulations of a narrow track tilting vehicle
Narrow track tilting vehicle is a new category of vehicle that combines the dynamical abilities of a passenger car with a motorcycle. In the presence of overturning moments during cornering, an accurate assessment of the lateral dynamics plays an important role to improve their stability and handling. In order to stabilise or control the narrow tilting vehicle, the demand tilt angle can be calculated from the vehicle’s lateral acceleration and controlled by either steering input of the vehicle or using additional titling actuator to reach this desired angle. The aim of this article is to present a new approach for developing the lateral dynamics model of a narrow track tilting vehicle. First, this approach utilises the well-known geometry ‘bicycle model’ and parameter estimation methods. Second, by using a tuning method, the unknown and uncertainties are taken into account and regulated through an optimisation procedure to minimise the model biases in order to improve the modelling accuracy. Therefore, the optimised model can be used as a platform to develop the vehicle control strategy. Numerical simulations have been performed in a comparison with the experimental data to validate the model accuracy.
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