基于 Lyapunov 的客车稳定域估计
Estimation of the Stability Region of Bus Based on Lyapunov
摘要 针对平面稳定域在评价车辆稳定性方面的不足,提出了客车空间稳定域的一种估计方法。建立了包含 Pacejka 轮胎魔术公式的客车三自由度非线性动力学模型,通过仿真和实车试验对比验证了所建模型的有效性。基于客车非线性动力学模型,构建了系统 Jaco-bian 矩阵,应用霍尔维茨(Hurwitz)判据分析了车辆系统稳定性随前轮转角变化情况以及车辆的临界状态。在构建客车系统二次型能量函数的基础上,利用 Lyapunov 法和车辆系统稳定特性确定了客车空间稳定域。客车在满载条件下的蛇形试验结果表明:应用上述方法确定的客车行驶稳定域能够较好地表征车辆系统稳定性,可为客车操纵稳定性评价和控制提供有益参考。
Abstract:
In order to address the deficiency of vehicle plane stability region,according to the nonlinear vehicle dynamic model,a method of estimating vehicle spatial stability region was proposed.A 3DOF bus model with Pacejka Magic Formula tire model was deduced and verified by comparing vehicle tests.Based on the Jacobian matrix of the dynamic system,the stability of the vehicle system was discussed with Hur-witz criterion.In addition,by establishing a generalized function for bus system,the full loaded vehicle’s spatial stability region in 20 m/s was given on the basis of Lyapunov theory and vehicle system characteris-tics.A vehicle test in the same condition has shown that the calculated stability region defined by Lya-punov and system stability theorem has a good effect on characterized vehicle stability.It will be a valuable reference for vehicle stability evaluation and control.
Author: YAN Yu-guang XU Hong-guo LIU Hong-fei
作者单位: 吉林大学 交通学院,吉林 长春 130025; 长春师范大学 计算机科学与技术学院,吉林 长春 130032 吉林大学 交通学院,吉林 长春,130025
年,卷(期): 2016, 43(2)
分类号: U461.6
机标分类号: O21 TP2
在线出版日期: 2016年4月18日
基金项目: 国家科技支撑计划项目(2009BAG13A04);国家高技术研究发展计划(“863”计划)项目