Model Of Vehicle Dynamics Stability Control And Output Motor

The stability control and output maneuvering of vehicle dynamic models are mainly investigated in this paper, and several control strategies for vehicle dynamic models are analyzed. The thesis gives a summary introduction to the stability control of the vehicle model of two-degree of freedom, including background of development, research status, and several methods of stability control on the basis of the model. For the model with unknown parameters, the idea of nonlinear adaptive backstepping is to design output-feedback controller. For the multi-object tracking model, the idea of optimal control is to design optimal controller. The problem of output maneuvering of a nonlinear dynamic system with unknown parameters is also investigated, in which the dynamic model is required to converge to and follow a path, at the same time, the speed along the path satisfying a certain index. Then the theory is applied in the model of Cybership II. The numerical simulation of the dynamic model shows the performance of the controller. The research results obtained by author can be divided into two parts:Part 1: The stability control for two-degree of freedom model of vehicle.The vehicle model of two-degree of freedom shows the inherent characters of vehicle movement, so it is depicted in the first part of the chapter. And three approaches to improve vehicle stability are analyzed, including: the output-feedback adaptive control of the side slip angle, the output-feedback adaptive control of the yaw rate and the optimal control of the two. The principle of the methods is to force the side slip angle and yaw rate track their desired value, so we can control the lateral and yaw movement of the actual vehicle. The stability of the methods above is verified theoretically, and the numerical example and the simulation are given to demonstrate the applicability of the proposed approach.Part 2: Analyze the stability control of output maneuvering of vehicle model.We consider the problem of output maneuvering of a class of nonlinear system with unknown parameters, the idea of backstepping is to design output-feedback adaptive controllers. And all the signals in the closed-loop adaptive system are globally uniformly bounded, and asymptotic tracking is achieved. The maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path continuously parameterized by a scalarθ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. The method of stability control is verified theoretically, and the theory is applied in the model of Cybership II. At last the procedure is performed and tested by experiments for a model ship.