Research On Vehicle Dynamics Stability Control Based On Intelligence Tire Detection

The rapid development of traffic makes the number of vehicles increases,people benefit from the massive construction of the car,at the same time due to the vehicles out of control of making a spin,shimmy,folding and other traffic accidents during the marching process cause harm to the life and property losses,so the vehicle motion stability control is the comparison research direction in the industry.In this paper,from the perspective of the vehicle and road surface contact media——tires,and the existing experimental conditions by Jilin University state key laboratory,aiming at the phenomenon of load quality on the tire change frequently when the car moving,research on a whole series of vehicle stability structure and control algorithm based on intelligent tires,summarizing related research results from domestic and international institutes,to set up the accurate finite element model of tire and do the experiment and parameter test simulation,basing on this model a tire mechanics intelligent detection device which can do real-time measurement was developed.With the reference of the established kinematics and dynamics models of multi degree of freedom the optimized ESP and MPC stability control strategy is developed system based on intelligent tires,and through software simulation,hardware in loop test and the experimental car test data to validate the control strategy.The main contents of this paper are as follows:Mechanical changes according to the quality of load and complex tires in a marching basic situation,set up the finite element model of the tire;Grounding mark on the model testing and the stiffness and steering simulation experiment,confirmed the tire model can reach the accuracy of the demand of the follow-up studies;Finite element model and analyze the tyres in various working condition of the steady state motion and the change tendency of the structure,summarizes the tire deformation and internal force between the tire relation rule,for subsequent tires intelligent control theory.In the finer fitting of the model,based on the tire mechanics intelligent detection device is developed.Without changing the tyres under the premise of the internal structure of running in the wheel installed on the sensor and the acquisition device,tire mechanics intelligent detection system is designed and developed,the use of MATLAB will be collected through camera for tyre mark area deformation of video processing,displacement data and extract the marked points through the tire deformation and stress of real-time tire force is calculated.Intelligent tire system implemented for real-time monitoring of force of tires,and completed the Ftire simulation and intelligent tire fitting validation of the system.System can be directly applied to data gathering vehicle stability study.The tires of intelligent control system will effect on the stability of the subsequent studies have very good help.Next seven degrees of freedom vehicle model with the tyres was built,by direct detection system in intelligent tire tire force data to optimize ESP additional yawing moment is calculated,and through the real-time detection of longitudinal force feedback input to adjust the ESP braking force allocation process.Through the ESP software simulation test and real vehicle hardware in loop test to analysis the result of the comparison system for intelligent tires for ESP optimization effect.Finally,according to the needs of semi-trailer stability control of the MPC,respectively,to establish the general model for predictive control of the vehicle with intelligent tire system kinematics and dynamics model,and then derive the expression model parameters and the movement mechanics,presents a model predictive control strategy,and then according to the requirements of the MPC application corners on the path following control and defines a reservation cost function,the distance of the path and the actual path by Newton iteration method and the golden search theory to find the minimum cost model convergence value of the control algorithm,through the control algorithm of the model simulation results to compare with intelligent tire dynamics model and kinematics model of the conventional path following the effect.Then apply this algorithm in an experimental car real vehicle test experiment was carried out to measure the controller to how the response of model error,after adjusting point weighted proportion coefficient,and test the predicted range under different control strategies,the effect of final vehicle control algorithm based on MPC and system for intelligent tires with the optimization of control algorithm.Through the above work,the innovative achievements of this paper lie in:(1)To meet the needs of intelligent tire established perfect finite element model,tire model fitting results can reach very high precision,and the working condition of the steady state test simulation,build relations between the tire deformation and tire force,makes the model not only can be applied to the intelligent tire system development and the development also can complete the requirements of working condition of the vehicle's dynamic simulation.(2)According to the requirements of vehicle stability studies the tire mechanics intelligent detection system is developed,the intelligent tire structure without affecting operation can be completed on the basis of the real-time measurement of force of tires,tire slip in the process of vehicle steering,partial force when the changes can be real-time acquisition,these data are of great help for vehicle stability study.(3)Based on intelligent tire system structure to establish seven degrees of freedom vehicle model for reference.Developed a ESP with tire force control strategy,according to the equation of motion is derived is closer to the actual vehicle motion additional yawing moment algorithm and according to the real-time detection of longitudinal force of braking torque distribution more efficient,eventually developing a system based on intelligent tires optimized ESP system.(4)The use of the mathematical models of kinematics and dynamics,using Newton iterative method and the golden section algorithm to find the optimal solution of the MPC cost function,and according to the starting point for the setup of the application of different algorithm respectively,makes the semi-trailer MPC control algorithm has better convergence.For predicting some way of using the weighted and discussed respectively under different length prediction algorithm of optimization,make through intelligent tire system optimized MPC control effect is more obvious in the real vehicle test.