CONSTRUCTION OF STEERING AND SUSPENSION SYSTEMS OF CARMODELS USING FUZZY REASONING

近年来，智能交通系统的自动驾驶控制在增加交通量和减轻驾驶员负担方面发挥着重要作用。研究了汽车模型转向控制系统的结构，通过转向角使车辆当前位置保持在期望的航向上。然而，随着操纵力变得陌生，乘客的安全性和乘坐舒适性并没有因为较大的差异而得到改善。因此，转向控制问题与悬架控制问题是相互耦合的。本文的目的是提出一种整车模型在风的侧向力和路况激励下的转向悬架系统的研制。由于车辆动力学实际上是一个复杂的系统，包括非线性和不确定性的影响，前后轮和左右轮角的转向控制，以及前后轮和右左轮位置的悬架控制…采用模糊推理的方法分别确定多个指标。然而，随着前置条件部分中变量数目的增加，模糊控制规则的数目以指数形式增加，控制结构变得更加复杂。提出了通过单输入规则模块进行模糊推理，以减少模糊控制规则的数量，在前提部分和结论部分将模糊控制规则表示为一组单变量。第一阶段是对半车模型的研究，第二阶段是对全车模型的研究。利用扰动观测器估计风的侧向力和路况激励，利用风侧向力的扰动观测器得到的前馈控制和模糊推理得到的反馈控制确定转向角。仿真结果表明，所提出的转向悬架系统在改善车辆操纵性和平顺性方面是非常有效的。

Recently, automatic driving control for intelligent transportation systems becomes the important role in increasing traffic and reliving driver's load. The investigation is concerned with the construction of the steering control for car models so as to maintain the vehicle current position for the desired course by steering angles. However, the safety and ride comfort of passengers is less improved by the larger difference as the control force becomes stranger. Therefore, the steering control problem is coupled with the suspension control problem. The purpose of this paper is to propose the development of a steering and suspension system of a full car model subject to the side force of wind and the excitation from a road profile. As the vehicle dynamics are practically described by a complicated system including the effect of non-linearity and uncertainty, the steering control of front/rear and right/left wheel angles, and the suspension controls at front/rear and right/left wheel loca … More tions are respectively determined by using fuzzy reasoning. However, the control structure becomes more complicated as the number of fuzzy control rules more increases exponentially if the number of the variables in the precondition part more increases. The fuzzy reasoning by single input rule modules to decrease the number of fuzzy control rules is proposed where the fuzzy control rules are expressed as a set of single variable in the precondition and conclusion parts. The investigation has been proposed for a half car model at the first stage, and secondly it has been extended to a full car model. The side force of wind and the excitation from the road profile have been estimated by using disturbance observers, and the steering angles have been determined by using the forward control derived from the disturbance observer for the side force of wind and the feedback control derived from fuzzy reasoning. The simulation result indicates that the proposed steering and suspension system is very effective in the performance of vehicle maneuverability and ride comfort Less