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1、VehicleSystemDynamics,32(1999),pp.389–4080042-3114/99/3204-389$15.00©Swets&ZeitlingerWorst-CaseVehicleEvaluationMethodology—ExamplesonTruckRollover/JackknifingandActiveYawControlSystemsWEN-HOUMA*ANDHUEIPENG†SUMMARYAworst-casevehicleevaluationmethodologyispresentedint
2、hispaper.Thisevaluationmethodidentifiesworst-caseexcitationsignalssothatthevehicleperformanceunderextremeconditionscanbeassessed.Twocasestudyexamplesarepresentedtoillustratethedesignprocedureandpotentialbenefitsofthismethod:therolloverandjackknifingofanarticulatedtru
3、ck,andtheevaluationofanactiveyawcontrolsystem.Inbothcases,theworst-casemethodwasabletoproduceunstableresultsatverymodeststeering/brakinglevels.1.INTRODUCTIONAutomaticcontrolsystemsarenowanintegralpartofmanymodernvehiclesystemsandhavegreatlyimprovedtheirefficiency,saf
4、etyandconvenience.Whilemanytoolsexistforthedesign,analysisandsimulationsofvehiclesandvehiclecontrolsystems,mostvehicledesignshavebeenevaluated/fine-tunedinabrute-forcemanner.Thisbrute-forceevaluationprocessistime-consumingbecauseonehopestoensurethatthesevehiclesworks
5、atisfactorilyunderallpossiblescenarios.Theevaluationprocessusuallyinvolvesextensiveexperimentsand/orsimulations,andmaytakeuptodozensofman-monthstoaccomplish.Further,thereisnoguaranteethattheworst-caseconditionhasbeenidentified.Thesetwoweaknessesdemonstratetheneedfora
6、moresystematicvehicleevaluationmethodology.Suchmethodologyshouldidentifytheweaklinkofthevehicledesigns,andgenerateworst-casesce-nariosintelligently.*MechanicalDynamicsInc.†AssistantProfessor,Dept.ofMechanicalEngineeringandAppliedMechanics,UniversityofMichi-gan,AnnArb
7、or,MI48109-2125,U.S.A.Tel.(734)936-0352,E-mail:hpeng@umich.edu390w.-h.maandh.pengAworst-casevehicleevaluationmethodologyispresentedinthispaper.Thepurposeofthisevaluationmethodistogenerateexcitationinputs(steering,braking,etc.)sothatthevehicleperformanceunderworst-cas
8、escenarioscanbeassessed.Theworst-casedisturbancegenerationproblemistreatedasanoptimal“game”problem.Classicaloptimalcontrolandgameth
