摘要
针对摩托车在转弯制动工况下容易发生侧翻的现象,设计一种摩托车转弯制动控制系统.首先,根据魔术公式建立摩托车轮胎模型,分析运动参数对轮胎纵向与侧向特性的影响,并选定滑移率作为控制系统的输入变量;然后基于轮胎特性,借助高斯函数与线性函数建立最佳滑移率决策模型,以车身侧倾角及其角速度为决策模型的输入,最佳滑移率为决策模型输出,并输入至模糊PID控制器以调整轮胎处于最佳滑移率;最后,借助BikeSim摩托车动力学模型,在Matlab/Simulink中搭建联合仿真平台,以验证所设计制动系统的可靠性.结果表明:相比于传统制动控制器,所设计的制动系统能根据车身侧倾角与角速度及时调整最佳滑移率,进而控制车辆动态,很好地兼顾了转弯制动过程中的制动性与稳定性,有效避免了纵向制动力过大造成的车辆失稳,从而提高了摩托车的安全性.
Aiming at the shortage that the motorcycle is easy to roll over under the turning braking condition,a braking system for controlling the turning motorcycle is proposed.Firstly,a motorcycle tire model was estab⁃lished according to magic formula,and the influence of motion on the longitudinal and lateral characteristics of the tire was analyzed.The slip ratio was selected as the input variable of the control system.Then,based on the tire characteristics,the optimal slip ratio decision model was established by using Gaussian function and linear function.The vehicle body roll angle and roll angle speed were the input of the decision model,and the optimal slip ratio was the output of the model,which was input to the fuzzy PID controller to adjust the slip ratio of the tire.Finally,based on the motorcycle dynamics model from BikeSim,a co-simulation platform was built in Mat⁃lab/Simulink to verify the reliability of the designed braking system.The results show that,compared with the traditional brake controller,the designed braking system can adjust the optimal slip rate in time according to the body roll angle and angular speed,and then control the vehicle dynamics.The braking and stability in the cornering brake process are well considered,and the vehicle instability caused by excessive longitudinal brak⁃ing force is effectively avoided,which contribute to improving the safety of the motorcycle.
作者
张晓东
潘茹
ZHANG Xiao-dong;PAN Ru(College of Information&Mechanical Engineering,Ningde Normal University,Ningde,Fujian 352100,China;Ultra High Voltage Company,State Grid Ningxia Electric Power Co.,Ltd.,Yinchuan,Ningxia 750010,China)
出处
《宁德师范学院学报（自然科学版）》
2023年第4期366-373,391,共9页
Journal of Ningde Normal University(Natural Science)
基金
宁德师范学院中青年科研项目(2020Q102)
福建省教育厅中青年教师教育科研项目(JAT200699)。
作者简介
张晓东(1989-),男,讲师.E-mail:t1610@ndnu.edu.cn。
