Study On Vertical-lateral Coupled Dynamic Model And Control Of Heavy-duty Vehicles

Nowadays,with the rapid development of logistics industry,the performance of Heavy-haul vehicles,as an important means of transport,has attracted more and more attention,especially the ride comfort and handling stability of Heavy-haul vehicles.These two performances are directly related to the driver’s driving comfort,the perfection of goods and the driving safety of vehicles,so the ride comfort and handling stability of Heavy-haul vehicles are very important.,Sex improvement is imperative.The ride comfort and handling stability of vehicles belong to the research field of vehicle vertical and lateral dynamics,so the study of vehicle vertical and lateral dynamics is of great significance.The two-dimensional three-axle heavy-haul vehicle based on vertical and lateral dynamics is studied.The vertical,lateral and vertical-lateral coupling dynamic models of two-dimensional three-axle heavy-haul vehicle are established,and the simulation analysis is carried out.The motion characteristics and interaction between the vertical and lateral motion of the two-dimensional heavy-haul vehicle model are mastered,which lays a foundation for the research of three-dimensional three-axle heavy-haul vehicle based on vertical and lateral dynamics.Establishment and control of vertical dynamic model of three-dimensional heavy-haul vehicle.A three-dimensional vertical dynamic model of three-axle heavy haul vehicle is established,and the total component method is used to calculate the moment of inertia of the vehicle.The simulation results are compared with the actual vehicle test results to prove the validity of the model.For the vertical dynamic model of the vehicle based on semi-active suspension system,a PID controller,a fuzzy controller and a fuzzy PID controller are designed.The optimal control method to improve the ride comfort of the vehicle vertical model is analyzed and studied.Establishment and Control of Three-dimensional Lateral Dynamics Model for Heavy-Duty Vehicles.The vehicle lateral dynamic model based on magic formula tire model is established.The influence of vehicle speed on vehicle handling and stability performance during steering is analyzed through simulation test,and the initiative is put forward.The six-wheel active steering control strategy combined with front-wheel steering and full-wheel steering is designed,and the corresponding controller is designed.The simulation analysis shows that the six-wheel active controller can make the yaw angular velocity and sideslip angle of mass center of the vehicle within the ideal range during steering,and improve the vehicle handling stability.Based on the above research,the vertical-lateral coupling dynamic model of three-dimensional heavy-haul vehicle is established.The correlation between vertical motion and lateral motion of the coupled model is analyzed by simulation.Based on the coupled model,a combined control method of semi-active suspension system and six-wheel active steering system is proposed.The simulation results show that the ride comfort and handling stability of the controlled vehicle can be improved simultaneously.