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ID:32148104
大小:2.56 MB
页数:67页
时间:2019-01-31
《基于模型车辆的四轮转向模糊控制与试验分析》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、江苏大学硕士学位论文ABSTRACTThemostimportantquestionthatneededtotakecareduringthedesignphaseofthevehicleisimprovingcontrolstabilization,drivingflexibilityanddrivingsafety.And4WStechnologywhichinventedforimprovingthecontrolstabilizationandpositivesafetyisattractingtheattentionallaroundtheworld.Thispapermainly
2、focusedonthefourwheelsteeringduringthesteeringofthevehicle,inordertodecreasethesteeringradiusofvehicleduringlowspeed,improvethesteeringflexibility;toke印thesideslipangleequaltozeroduringhighspeed,improvethedynamicresponseperformance.Thefuzzycontrolof4WSthatbasedontheoryanalysis,wasresearchedonthispa
3、per,andtheMATLAB/SIMULINKmodelwasbuilt,thengotthesimulationresult.Atthesametime,inordertodothesimulateexperimentresearchof4WS,thispapertake1/10modelvehicleastheprototype,andbuiltthe4WSexperimentsystem,adoptedfuzzycontrolwhichbasedontheunionfeedbackcontrolofsideslipandyawingratetocontroltherarewheel
4、steering,toarchivethesideslipminimize,yawingratealmostthesamewithfrontwheelsteeringvehicle.Inorderarchivethedataadoptfunction,themodelvehiclewasassembledacceleratesensor、anglespeedsensor、speedsensorandwirelesstransmissionmodule.Thecontroller’sdataadoptionwasarchivedbyAVR,andtransporttoPCthroughwire
5、lessmoduleandthendotheKalmanfilteringandfuzzycontrolcalculation,thentransporttheresulttoAVRthroughwirelessmodule,anddrivetheservomotortocontroltherarewheel.Theminimumradiusmeasurementandsteerwheelstep—angletestIII基于模型车辆的四轮转向模糊控制与试验研究weredidattheend,comparedtheperformancebetweentwowheelsteeringandfo
6、urwheelsteering.Thetestprovedthatunderthesamesituation,thesteeringperformanceoffourwheelsteeringvehiclewithfuzzycontrolisbetterthannormaltwowheelsteeringvehicle:theminimumradiusofthefourwheelsteeringis31.4%lessthantwowheelsteeringbasedonthemodelvehicle,thisimprovedthe4WSvehiclecansteerinaverysmallp
7、lacecomparedwithtwowheelsteeringvehicle,thesteeringflexibilitywasimproved.Duringthestep—angletest,thesideslipangleoffourwheelsteeringvehicletenttozeroandtheresponseofyawingratealmostsamewithtwowheelsteering
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