Complementary Behaviors of Active Steering and Traction/breaking Force Distribution and Online Optimizations

主动转向和牵引力/制动力分配及在线优化的互补行为

• 批准号: 18560230
• 负责人: NISHIHARA Osamu
• 金额: $ 2.36万
• 依托单位: Kyoto University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18560230/
• 关键词: Active Steering; Four-wheel Independent Steering; Traction; Breaking Force; Real-time Optimization; Tire Workload; Friction Coefficient; Brush Model; μ-split Road; タイヤモデル; Minimax最適化; 凸計画問題; 相補性

This research project deals with the active control of four-wheel independent steering vehicle with respect to the tire force distribution. From the viewpoint of active safety, there is a strong need for further progress in vehicle dynamics control. In order to maintain direct yaw-moment control, traction/braking forces must be effectively distributed over the four wheels. Increasingly precise online optimization algorithms are being studied to replace the former empirical methods. According to the tire friction circle model, the tire force will not exceed the product of the vertical load on the tire with the road friction coefficient If the tire workload is optimized in minimax criterion, the optimal distribution of traction/braking force can be determined for all tires, under the natural condition that the tires have identical friction coefficients; the actual friction coefficient is not required. First of all, a simple algebraic approach is derived to isoangle steering systems appli … More cable to the front wheel active steering and the four-wheel active steering vehicles. Four-wheel independent steering means vehicles whose wheels' steering actions are totally independently controllable. In optimization of the tire workload, the distribution of tire forces is optimized between the left and right front wheels using control conditions of lateral forces at the front and the rear axles. In addition to the basic problem formulation, the complementarities between the steering and traction/breaking force distribution can be exploited to further reduce the maximum tire workload. To realize the reduction effecte, the tire force distributor must be reconstructed to take accounts of the complementarity relations between two terms, but basically the physical configuration is unchanged. The algorithm is updated and the cooperation of the steering and the traction/braking force distribution effectively reduces the maximum tire workload. Since the workload based optimization is based on the assumption that the road friction coefficient is uniform over four wheels, the μrate based optimization needs the estimated value of road friction coefficients. So we studied the friction coefficient estimation method based on the brush model. The relation between tire forces and the aligning torque is translated into the estimation formula for the road friction coefficient at the contact area. The workload minimization algorithms are translated into the μrate based approach by the replacement of the estimated vertical loads of tires by the equivalent values. These algorithms are verified by the numerical simulations using popular simulation software CarSim with the vehicle controller together with the tire force distributor implemented using the Matlab/Simulink environment. Less

本研究项目针对四轮独立转向汽车的轮胎力分布进行主动控制。从主动安全的角度来看，汽车动力学控制有进一步发展的必要。为了保持直接的横摆力矩控制，牵引力/制动力必须有效地分布在四个车轮上。人们正在研究越来越精确的在线优化算法，以取代以前的经验方法。根据轮胎摩擦圈模型，如果以极小极大准则对轮胎载荷进行优化，则轮胎力不会超过轮胎上垂直载荷与路面摩擦系数的乘积，在轮胎摩擦系数相同的自然条件下，可以确定所有轮胎的最优牵引力/制动力分配，而不需要实际摩擦系数。首先，给出了等角转向系统…的一种简单的代数求解方法。更多的系为前轮主动转向和四轮主动转向车辆。四轮独立转向是指车轮的转向动作完全独立可控的车辆。在轮胎负荷优化中，利用前后轴侧向力的控制条件，优化了左、右前轮之间的轮胎力分布。除了基本的问题描述外，还可以利用转向和牵引力/破碎力分布之间的互补性来进一步减少最大轮胎工作量。为了实现减振效果，必须对轮胎配力器进行改造，以考虑两项之间的互补关系，但基本保持物理结构不变。算法进行了更新，转向和牵引力/制动力分配的协调有效地减少了轮胎的最大工作量。由于基于负载的优化是基于路面摩擦系数在四个车轮上是均匀的假设，因此基于μ率的优化需要道路摩擦系数的估计值。为此，本文研究了基于刷子模型的摩擦系数估算方法。将轮胎力与定位力矩之间的关系转化为接触区路面摩擦系数的估算公式。通过用等效值替换估计的轮胎垂直载荷，将工作量最小化算法转化为基于μ速率的方法。利用流行的仿真软件CarSim，结合车辆控制器和在MatLab/Simulink环境下实现的胎面力分配器，对上述算法进行了数值仿真验证。较少

项目成果

Minimax optimizations of tire workload exploiting complementarities between independent steering and traction/braking force distributions

利用独立转向和牵引力/制动力分布之间的互补性对轮胎工作负载进行极小极大优化

• 发表时间: 2006
• 期刊: AVEC' 06 Proceedings
• 作者: O. Nishihara;H. Kumamoto;0.Nishihara
• 通讯作者: 0.Nishihara

Estimation of Road Friction Coefficient Based on Brush Model for Optimization of Tire Force Distribution in Independent Steering Vehicle

基于刷模型的路面摩擦系数估计及独立转向车辆轮胎受力优化分配

• 发表时间: 2008
• 期刊: Proc. of 9th International Symposium on Advanced Vehicle Control (AVEC'08)
• 作者: O. Nishihara;M. Kurishige;Y. Sakatani
• 通讯作者: Y. Sakatani

Sliding Mode D* Controller for an Active Four'Wheel Steering Vehicle with an Optimized Weighting Factor

用于具有优化权重因子的主动四轮转向车辆的滑模 D* 控制器

• 发表时间: 2008
• 期刊: Proc. of 8th International Conference on Motion and Vibration Control (MoViC 2008) (CD-ROM)
• 作者: Masanori;SHINTANI;Hiroki;TANAKA;Naoya;TAGUCHI;Yuichi;HATTORI;O. Nishihara;O. Nishihara
• 通讯作者: O. Nishihara

アクティブ操舵車両の統合制御とタイヤ負荷のMinimax最適配分

主动转向车辆集成控制与轮胎载荷Minimax优化分配

• 发表时间: 2007
• 期刊: 計測自動制御学会第8回システムインテグレーション部門講演会予稿集
• 作者: 西原 修;北野弘明
• 通讯作者: 北野弘明

Minimax Optimizations of Tire Workload Exploiting Complementarities between Independent Steering and Traction/Breaking Force Distributions

利用独立转向和牵引力/制动力分布之间的互补性对轮胎工作负载进行极小极大优化

• 发表时间: 2006
• 期刊: Proc. Of AVEC'08
• 作者: O. Nishihara;H. Kumamoto
• 通讯作者: H. Kumamoto