高速紧急避让汽车操纵逆动力学的建模与仿真

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1、中图分类号：U461.6论文编号：102870212-S074 学科分类号：080204硕士学位论文高速紧急避让汽车操纵逆动力学的建模与仿真研究生姓名邱笑寅学科、专业车辆工程研究方向车辆系统动力学指导教师阮米庆副教授赵又群教授南京航空航天大学研究生院能源与动力学院二○一一年十二月高速紧急避让汽车操纵逆动力学的建模与仿真ABSTRACTAbriefreviewofdomesticandforeignvehiclehandlinginversedynamicsresearchisintroduced inthispaper.UsingRBFneuralnetworksandoptimalc

2、ontrolmethod,thesimulationresearchon vehiclehandlinginversedynamicsinhigh-speedemergencyavoidancewiththreedegree-of-freedom vehiclemodelisanalyzed.Researchshowsthatsolvingthe“inverseproblem”notonlybeableto identifythesteeringangelinput,butalsocancomparethemaneuverabilityofdifferentvehicles.The m

3、ainpurposesofthispaperare:(1)Athree-degree-freedomclosed-loopsystemforsteeringangelinputvehiclemodelis established,arrangetherealvehicleserpentinetestinlowspeedtoverifytheclosed-loopsystem’s validity.TheresultsshowthatMATLABsimulationofthevehicle’syawrate,lateralaccelerationand bodyrollangelhave

4、goodconsistencywiththeactuallyexperiment,laythefoundationofobtaining theexactneuralnetworkstrainingsample.(2)Usingtheuniformdesigntoarrangetheclosed-loopsystemthedoublelaneandserpentine test;throughcombiningthreedifferentparametersindriver’smodeltosimulatedifferentdrivers drivingthesamevehicleto

5、obtaintheneuralnetwork’strainingdata,establishtheneuralnetwork modelbetweenvehicle’syawrate,lateralacceleration,bodyrollangelandsteeringangelinput, angularvelocity;Basedontheestablishedneuralnetwork,analyzetheerrorbetweenthenetwork’s identificationandsimulationresults,andintheinputsamplestojoine

6、venlydistributedrandomnoise, furtheranalyzethenetwork’saccuracyandrobustness.(3)Basedonoptimalcontrolmethod,usingforhigh-speedemergencyavoidanceandrepeatedly avoidanceconditionforvehiclehandlinginversedynamicsresearch.Thesteeringangelinputof 3-DOFvehiclemodeisthecontrolvariable,accuratelytrackin

7、gtheexpectedpathisthecontrolobject, theoptimalcontrolproblemcanbeconvertedintoanonlinearprogrammingproblemwhileusingthe statevariablesconversion,whichcanbesolvedbythesequentialquadraticprogramming(SQP) algorithm.Theresultssh