Research On The Control Technology Of The Narrow-body Active Tilt Electric Vehicle

Traffic congestion is one of the main problems in modern cities.It is an effective way to solve this problem to develop a small electric commuter car for daily urban traffic.Narrow body active-tilt electric vehicle belongs to a new type of non-standard vehicle,which is small in size and narrow in body.Active-tilt technology is used to improve the risk of rollover to the outside due to the small force on the inner tire when cornering,so as to prevent rollover from the root.In view of the problems existing in the previous relevant research,such as the difficulty to determine the impact of vehicle tilt action on stability and its degree of influence,the failure to form a specific control strategy,the failure to explore the dynamic performance of the system under the corresponding control strategy,and the absence of corresponding nonstandard vehicle simulation environment,etc.,this paper proposes a reverse design method to realize active-tilt steering by analyzing the impact of tilt action The dynamic performance of the vehicle is analyzed,designs a simulation method suitable for the vehicle,and completes the relevant simulation experiments.The main contents of this paper are as follows:Firstly,a vehicle model with variable wheel position parameters is proposed.The model is based on Tadpole structure,witch is a layout of two front wheels and one rear wheel.By changing the longitudinal and vertical positions of the front wheels,the body posture is adjusted to ensure the stable driving of the vehicle.Through the analysis of kinematics and dynamics,the movement law of the vehicle is obtained,which is the foundation of the research.Secondly,the influence of tilting action on stability is studied,and the law of vehicle load distribution is obtained.Thirdly,the active-tilt control strategy is proposed.This paper discusses the optimal arrangement of the wheel center position of the two front wheels under different motion conditions,so that the vehicle can obtain good driving attitude and roll stability.Fourth,the dynamic performance of the vehicle is explored.A vehicle steering model based on MPC is proposed,which can assist vehicle steering with the tilt control strategy.The dynamic influence of tilting action is discussed and its dynamic parameters are determined.Fifthly,a simulation method suitable for the non-standard vehicle is proposed to verify the accuracy and feasibility of the control strategy as well as the dynamic performance of the vehicle.