CN107963124A - A kind of multi-axle steering control method for improving vehicle handling stability - Google Patents
A kind of multi-axle steering control method for improving vehicle handling stability Download PDFInfo
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- CN107963124A CN107963124A CN201610910653.2A CN201610910653A CN107963124A CN 107963124 A CN107963124 A CN 107963124A CN 201610910653 A CN201610910653 A CN 201610910653A CN 107963124 A CN107963124 A CN 107963124A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
- B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention discloses a kind of multi-axle steering control method for improving vehicle handling stability, step is：Obtain first segment compartment front wheel steering angle δfWith yaw rate r, pass through the vehicle front wheel steering angle δfPositive ratio and the yaw rate r positive ratio after calculate rear-axle steering angle δr, control rear-axle steering.The present invention has a multi-axle steering characteristic, and it is zero to keep first segment vehicle centroid side drift angle, the advantages of can effectively improving the track follow-up capability under the stability of vehicle and the lateral response speed and low-speed situations of quickening vehicle.
Description
Technical field
The present invention relates to technical field of vehicle control, more particularly to a kind of multi-axle steering control for improving vehicle handling stability
Method processed.
Background technology
Multi-axle steering rubber tire train is a kind of new city public passenger transport vehicle, its feature shows as rubber tire trackless, with passing
System Car sharing right of way, no longer run along trapped orbit, track land marking line (virtual rail) traveling.It both possesses bus
The advantages of traveling is flexibly, construction is low with maintenance cost, but also with the big advantage of transport capacity, and overcome subway, light rail, rail
The infrastructure constructions such as electric car and vehicle acquisition cost are high, it is necessary to the shortcomings that special electric system and track matching design.This
Vehicle rubber tire train in invention is that three that middle car Zhuzhou is researched and developed save marshallings, six axis all-wheel steerings, pure electric vehicle two way
Articulated vehicle.
For multi-axle steering is hinged rubber tire train, in low speed it is necessary to have accurately track follow-up capability, ensure
Still can be flexibly by as shown in Figure 1 when vehicle is turned with small radii；In high speed, it is necessary to have preferable operation stabilization
Property, ensures the driving safety of vehicle.How to ensure that this characteristic under low speed and high-speed case is one and needs to study at the same time
Important topic.
Early in early 20th century, Vehicle Engineering teacher has found that under speed operation that trailing wheel is rotated backward with front-wheel can be effective
This feature of reduction vehicle turn radius, and by it using on some military and engineering trucks.For four-wheel steering vehicle,
When low vehicle speeds, in order to reduce radius of turn, usual rear wheel direction is with front-wheel on the contrary, i.e. so-called " anti-phase turn
To ".In high speed steering, in order to improve the stability of vehicle and accelerate the lateral response speed of vehicle.Trailing wheel will be produced with before
Take turns steering angle in the same direction, i.e., so-called " turning in the same direction ".But this four-wheel steering characteristic only gives qualitatively control law, grinds
Study carefully a kind of steering angle to wheel and carry out quantitative control law, it is low can guarantee that while vehicle high-speed control stability is improved
Track follow-up capability in the case of speed, has very important practical significance.
The content of the invention
The technical problem to be solved in the present invention is that：For technical problem existing in the prior art, the present invention provides one
(during low vehicle speeds, rear wheel direction is opposite with front-wheel in four-wheel steering characteristic for kind；In high speed steering, rear wheel
Direction and front-wheel are in the same direction) on the basis of, it is zero to control vehicle centroid side drift angle, can effectively improve stability and the quickening of vehicle
The lateral response speed of vehicle, and can guarantee that the multiaxis of the raising vehicle handling stability of the track follow-up capability under low-speed situations
Rotating direction control method.
In order to solve the above technical problems, technical solution proposed by the present invention is：It is a kind of to improve the more of vehicle handling stability
Axle steer control method, it is characterised in that：Obtain vehicle front wheel steering angle δfWith yaw rate r, pass through the vehicle
Front wheel steering angle δfPositive ratio and the yaw rate r positive ratio after calculate rear-axle steering angle δr, control trailing wheel
Turn to, shown in the calculation formula such as formula (1) at the rear-axle steering angle：
δr=kδδf+krr (1)
In formula (1), δrFor rear-axle steering angle, δfFor front wheel steering angle, r is yaw rate, kδFor front wheel steering angle
Direct ratio coefficient, krFor the direct ratio coefficient of yaw rate.
As a further improvement on the present invention, the front wheel steering angle δfTurned by obtaining steering wheel angle δ and steering wheel
To gearratio n, calculated and obtained according to formula shown in formula (2),
In formula (2), δfFor front wheel steering angle, δ is steering wheel angle, and n is wheel steering gearratio.
As a further improvement on the present invention, the direct ratio coefficient k of the front wheel steering angleδBy obtaining front axle cornering stiffness
KfWith rear axle lateral deviation stiffness KrThe formula as shown in formula (3), which calculates, to be obtained,
In formula (3), kδFor the direct ratio coefficient of front wheel steering angle, KfFor front axle cornering stiffness, KrFor rear axle cornering stiffness.
As a further improvement on the present invention, the yaw rate r passes through front wheel steering angle δf, car speed V,
Distance l of the vehicle centroid away from automobile front-axlef, distance l of the vehicle centroid away from vehicle rear axler, the complete vehicle quality m of vehicle, front axle lateral deviation
Stiffness KfWith rear axle lateral deviation stiffness KrThe formula as shown in formula (4), which calculates, to be obtained,
In formula (4), r is yaw rate, δfFor front wheel steering angle, V is car speed, lfIt is vehicle centroid away from car
The distance of front axle, lrFor distance of the vehicle centroid away from vehicle rear axle, m is the complete vehicle quality of vehicle, KfFor front axle cornering stiffness,
KrFor rear axle cornering stiffness.
As a further improvement on the present invention, the direct ratio coefficient k of the yaw raterPass through the vehicle matter of vehicle
Measure the distance l of m, car speed V, vehicle centroid away from automobile front-axlef, distance l of the vehicle centroid away from vehicle rear axler, front axle lateral deviation it is firm
Spend KfWith rear axle lateral deviation stiffness KrThe formula as shown in formula (5), which calculates, to be obtained,
In formula (5), krFor the direct ratio coefficient of yaw rate, m is the complete vehicle quality of vehicle, and V is car speed, lf
For distance of the vehicle centroid away from automobile front-axle, lrFor distance of the vehicle centroid away from vehicle rear axle, KfFor front axle cornering stiffness, KrFor
Rear axle cornering stiffness.
Compared with prior art, the advantage of the invention is that：Inventive algorithm is simple, can according to the current state of vehicle,
The steering angle of quantitative definite vehicle rear wheel, so that the stability of vehicle can not only be improved and accelerate the lateral response speed of vehicle
Degree, and can ensure the track follow-up capability under low-speed situations at the same time, there is wider array of operating mode relative to traditional control method
Accommodation.
Brief description of the drawings
Fig. 1 follows schematic diagram for multi-shaft steering vehicle track.
Fig. 2 is vehicle half model schematic.
Fig. 3 is specific embodiment of the invention flow diagram.
Fig. 4 is the equieffective ratio coefficient schematic diagram of trailing wheel opposing front wheels when specific embodiment of the invention side drift angle is zero.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in figure 3, the multi-axle steering control method of the raising vehicle handling stability of the present embodiment, concretely comprises the following steps：
Obtain vehicle front wheel steering angle δfWith yaw rate r, pass through vehicle front wheel steering angle δfPositive ratio and Vehicular yaw angle
Rear-axle steering angle δ is calculated after the positive ratio of speed rr, control rear-axle steering, calculation formula such as formula (1) institute at rear-axle steering angle
Show：
δr=kδδf+krr (1)
In formula (1), δrFor rear-axle steering angle, δfFor front wheel steering angle, r is yaw rate, kδFor front wheel steering angle
Direct ratio coefficient, krFor the direct ratio coefficient of yaw rate.Vehicle in the present embodiment refers to the of articulated train
One section compartment, by the course changing control to first segment compartment, so as to achieve the purpose that to improve full car control stability.
Wherein, front wheel steering angle δfBy obtaining steering wheel angle δ and wheel steering gearratio n, according to formula (2)
Formula, which calculates, to be obtained,
In formula (2), δfFor front wheel steering angle, δ is steering wheel angle, and n is wheel steering gearratio.
The direct ratio coefficient k of front wheel steering angleδBy obtaining front axle lateral deviation stiffness KfWith rear axle lateral deviation stiffness KrBy formula (3) institute
Show that formula calculates to obtain,
In formula (3), kδFor the direct ratio coefficient of front wheel steering angle, KfFor front axle cornering stiffness, KrFor rear axle cornering stiffness.
Yaw rate r passes through front wheel steering angle δf, the distance l of car speed V, vehicle centroid away from automobile front-axlef、
Distance l of the vehicle centroid away from vehicle rear axler, the complete vehicle quality m of vehicle, front axle lateral deviation stiffness KfWith hind axle cornering stiffness Kr
The formula as shown in formula (4), which calculates, to be obtained,
In formula (4), r is yaw rate, δfFor front wheel steering angle, V is car speed, lfIt is vehicle centroid away from car
The distance of front axle, lrFor distance of the vehicle centroid away from vehicle rear axle, m is the complete vehicle quality of vehicle, KfFor front axle cornering stiffness,
KrFor axis cornering stiffness.
The direct ratio coefficient k of yaw raterBy the complete vehicle quality m, car speed V, vehicle centroid of vehicle away from car
The distance l of front axlef, distance l of the vehicle centroid away from vehicle rear axler, front axle lateral deviation stiffness KfWith rear axle lateral deviation stiffness KrBy formula
(5) formula shown in, which calculates, to be obtained,
In formula (5), krFor the direct ratio coefficient of yaw rate, m is the complete vehicle quality of vehicle, and V is car speed, lf
For distance of the vehicle centroid away from automobile front-axle, lrFor distance of the vehicle centroid away from vehicle rear axle, KfFor front axle cornering stiffness, KrFor
Rear axle cornering stiffness.
In the present embodiment, can be analyzed by the simplification half model of vehicle, as shown in Figure 2.In vehicle
In half model, according to Newton's second law obtain laterally with the math equation such as formula (6) of two frees degree of yaw shown in：
In formula (6), m is the complete vehicle quality of vehicle, and V is car speed, and β is vehicle centroid side drift angle, and r is Vehicular yaw angle
Speed, YfFor front axle lateral force, YrFor rear axle cornering stiffness, I is first segment car vehicle rotary inertia, lfIt is vehicle centroid away from car
The distance of front axle, lrFor distance of the vehicle centroid away from vehicle rear axle, t is the time.
Since the front wheels and rear wheels of vehicle can turn to, then there is the establishment of formula (7) illustrated equation,
In formula (7), YfFor front axle lateral force, YrFor rear axle lateral force, KfFor front axle cornering stiffness, KrIt is firm for rear axle lateral deviation
Degree, βfFor front-wheel side drift angle, βrFor trailing wheel side drift angle, β is vehicle centroid side drift angle, and V is car speed, and r is Vehicular yaw angle speed
Degree, lfFor distance of the vehicle centroid away from automobile front-axle, lrFor distance of the vehicle centroid away from vehicle rear axle, δfFor front wheel steering angle, δr
For rear-axle steering angle.
Formula (7) is substituted into formula (6), can obtain formula (8) illustrated equation,
Definition in formula (8) to each parameter is identical with formula (6) and formula (7).
In the present embodiment, with vehicle front wheel steering angle δfThe sum of the positive ratio of positive ratio and yaw rate r
It is zero to make the side slip angle perseverance of vehicle as rear-axle steering control law.The course changing control that trailing wheel can be set is restrained such as formula
(1) shown in, the course changing control of front-wheel is restrained as shown in formula (2).Formula (1) and formula (2) are updated to formula (8), then can obtain formula (9) institute
Show formula,
Definition in formula (9) to each parameter is identical with formula (1), formula (2) and formula (8).
Obviously, when formula (9) molecule be 0, i.e., formula (10) set up when, it is ensured that the side slip angle of vehicle be 0.
Definition in formula (10) to each parameter is identical with formula (9).
Formula (3) can be obtained by formula (10) and formula (5) is set up so that in formula (9)Perseverance is 0, so as to control vehicle to exist
Vehicle centroid side drift angle perseverance is zero when running at high speed.
Formula (2), formula (3) and formula (5) are substituted into formula (1), then shown in the form such as formula (11) of formula (1),
Definition in formula (10) to each parameter is various identical with the above.
Meanwhile the relation between the turn radius of the steering angle and vehicle of vehicle meets formula (12) illustrated equation,
In formula (12), R is vehicle turn radius, δfFor front wheel steering angle, lfFor distance of the vehicle centroid away from automobile front-axle,
lrFor distance of the vehicle centroid away from vehicle rear axle, m is the complete vehicle quality of vehicle, and V is car speed, KfFor front axle cornering stiffness, Kr
For rear axle cornering stiffness, r is yaw rate.
It can derive that formula (4) is set up from formula (12),
Formula (2), formula (3), formula (4), formula (5) are updated in formula (1), you can the form for determining formula (1) is δr=k δf, its
In, shown in equieffective ratio coefficient k such as formula (13),
So as to obtain vehicle the second Shaft angle control law changed with speed, as shown in Figure 4, it is seen then that when speed is smaller
When the second axle steer and first axle it is reverse, as speed improves, the two is changed into the same direction again, eventually arrives at limiting value.I.e. can not only
Improve the stability of vehicle and accelerate the lateral response speed of vehicle, and can ensure that the track under low-speed situations follows energy at the same time
Power.
In the present embodiment, the distance l of the complete vehicle quality m of vehicle, vehicle centroid away from automobile front-axlef, vehicle centroid is away from car
The distance l of rear axlerCan be by measuring or estimating acquisition in advance, car speed V can be obtained by wheel speed sensors measurement, preceding
Axis cornering stiffness KfIt can be obtained by the tire test carried out in advance, rear axle lateral deviation stiffness KrIt can be tried by the tire carried out in advance
Test acquisition.
Above-mentioned simply presently preferred embodiments of the present invention, not makees the present invention limitation in any form.It is although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, should all fall
In the range of technical solution of the present invention protection.
Claims (5)
- A kind of 1. multi-axle steering control method for improving vehicle handling stability, it is characterised in that：Obtain vehicle front wheel steering angle δf With yaw rate r, pass through the vehicle front wheel steering angle δfPositive ratio and the yaw rate r direct ratio Rear-axle steering angle δ is calculated after valuer, rear-axle steering is controlled, shown in the calculation formula such as formula (1) at the rear-axle steering angle：δr=kδδf+krr (1)In formula (1), δrFor rear-axle steering angle, δfFor front wheel steering angle, r is yaw rate, kδFor front wheel steering angle just Than coefficient, krFor the direct ratio coefficient of yaw rate.
- 2. the multi-axle steering control method according to claim 1 for improving vehicle handling stability, it is characterised in that：It is described Front wheel steering angle δfBy obtaining steering wheel angle δ and wheel steering gearratio n, calculated and obtained according to formula shown in formula (2),<mrow> <msub> <mi>&delta;</mi> <mi>f</mi> </msub> <mo>=</mo> <mfrac> <mi>&delta;</mi> <mi>n</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>In formula (2), δfFor front wheel steering angle, δ is steering wheel angle, and n is wheel steering gearratio.
- 3. the multi-axle steering control method according to claim 2 for improving vehicle handling stability, it is characterised in that：It is described The direct ratio coefficient k of front wheel steering angleδBy obtaining front axle lateral deviation stiffness KfWith rear axle lateral deviation stiffness KrThe formula meter as shown in formula (3) Calculate and obtain,<mrow> <msub> <mi>k</mi> <mi>&delta;</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <msub> <mi>K</mi> <mi>f</mi> </msub> <msub> <mi>K</mi> <mi>r</mi> </msub> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>In formula (3), kδFor the direct ratio coefficient of front wheel steering angle, KfFor front axle cornering stiffness, KrFor rear axle cornering stiffness.
- 4. the multi-axle steering control method according to claim 3 for improving vehicle handling stability, it is characterised in that：It is described Yaw rate r passes through front wheel steering angle δf, the distance l of car speed V, vehicle centroid away from automobile front-axlef, vehicle centroid Distance l away from vehicle rear axler, the complete vehicle quality m of vehicle, front axle lateral deviation stiffness KfWith rear axle lateral deviation stiffness KrIt is public as shown in formula (4) Formula, which calculates, to be obtained,<mrow> <mi>r</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&delta;</mi> <mi>f</mi> </msub> <mi>V</mi> </mrow> <mrow> <msub> <mi>l</mi> <mi>f</mi> </msub> <mo>+</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <mo>+</mo> <mfrac> <mrow> <msup> <mi>mV</mi> <mn>2</mn> </msup> <mrow> <mo>(</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <msub> <mi>K</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>f</mi> </msub> <msub> <mi>K</mi> <mi>f</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <msub> <mi>K</mi> <mi>f</mi> </msub> <msub> <mi>K</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>l</mi> <mi>f</mi> </msub> <mo>+</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>In formula (4), r is yaw rate, δfFor front wheel steering angle, V is car speed, lfFor vehicle centroid away from vehicle before The distance of axis, lrFor distance of the vehicle centroid away from vehicle rear axle, m is the complete vehicle quality of vehicle, KfFor front axle cornering stiffness, KrFor Rear axle cornering stiffness.
- 5. the multi-axle steering control method according to claim 4 for improving vehicle handling stability, it is characterised in that：It is described The direct ratio coefficient k of yaw raterBy the complete vehicle quality m, car speed V, vehicle centroid of vehicle away from automobile front-axle Distance lf, distance l of the vehicle centroid away from vehicle rear axler, front axle cornering stiffness and rear axle lateral deviation stiffness KrThe formula as shown in formula (5) Calculate and obtain,<mrow> <msub> <mi>k</mi> <mi>r</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msup> <mi>mV</mi> <mn>2</mn> </msup> <mo>+</mo> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>l</mi> <mi>f</mi> </msub> <msub> <mi>K</mi> <mi>f</mi> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>r</mi> </msub> <msub> <mi>K</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <msub> <mi>K</mi> <mi>r</mi> </msub> <mi>V</mi> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>In formula (5), krFor the direct ratio coefficient of yaw rate, m is the complete vehicle quality of vehicle, and V is car speed, lfFor car Distance of the barycenter away from automobile front-axle, lrFor distance of the vehicle centroid away from vehicle rear axle, KfFor front axle cornering stiffness, KrFor rear axle Cornering stiffness.
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| CN112776885B (en) * | 2019-11-05 | 2022-07-08 | 中车株洲电力机车研究所有限公司 | Steering control method and device for multi-section train connected in series |
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