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Hardware-in-the-loop dynamic simulations of an off-road vehicle with active four-wheel steering.

机译：具有主动四轮转向功能的越野汽车的半实物动态仿真。

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Active four-wheel steering systems greatly enhance the dynamic characteristics of automotive vehicles. The performance of a selected 4WS control algorithm dictates the magnitude of improvement. Typically, the evaluation of a 4WS controller involves computer simulation providing reasonable approximations of a vehicle's dynamics. However, hardware effects are not incorporated into results. Hardware-in-the-loop simulation includes the influence of hardware components, realizing inefficiencies and phase delays of the physical system. Therefore, estimations of actual controller behaviour are improved.; The performance of two 4WS controllers is evaluated through hardware-in-the-loop simulation. Development of a 4WS interactive testbed is outlined, including a detailed description of hardware elements. Simulation and control software operation is described, indicating the method of real-time execution. An overview of system testing is provided, including frequency response trials, following the selection of PI controller gains. Finally, hardware-in-the-loop simulations are performed for several steering maneuvers, and results are compared to those of multibody simulations incorporating a complicated vehicle model.

机译：主动四轮转向系统大大增强了汽车的动力特性。所选4WS控制算法的性能决定了改进的幅度。通常，对4WS控制器的评估涉及计算机仿真，以提供车辆动力学的合理近似值。但是，硬件效果未纳入结果。硬件在环仿真包括硬件组件的影响，实现了物理系统的低效率和相位延迟。因此，改进了实际控制器行为的估计。通过硬件在环仿真评估了两个4WS控制器的性能。概述了4WS交互式测试平台的开发，包括对硬件元素的详细描述。描述了仿真和控制软件的操作，指示了实时执行的方法。在选择PI控制器增益之后，提供了系统测试的概述，包括频率响应试验。最后，针对几种转向操作执行了在环仿真，并将结果与包含复杂车辆模型的多体仿真进行了比较。

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作者
Jones, Thomas David.;
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作者单位

Queen's University (Canada).;

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授予单位 Queen's University (Canada).;
学科 Engineering Mechanical.
学位 M.Sc.
年度 1993
页码 115 p.
总页数 115
原文格式 PDF
正文语种 eng
中图分类机械、仪表工业;
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专利

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机译：车辆动力学和控制，以改善操纵性能和主动安全性：从四轮转向到直接横摆力矩控制
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机译：具有非线性空间车辆动力学模型的多轴悬架试验台的硬件环路仿真
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机译：铁路车辆的机械制动在环仿真，该仿真考虑了磁滞和气缸动力学：
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机译：主动侧悬系统铁路车辆动力学建模与在环仿真设计
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机译：越野车被动，主动和半主动座椅悬架的行驶模拟
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机译：两轮三轮和四轮无执照越野车。加拿大儿科学会事故预防委员会。
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机译：带有迭代学习的主动力控制在环仿真技术在主动车辆悬架系统中的应用
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机译：利用集成传感器，控制器和多体动力学在越野场景中开发自适应车辆的高保真移动性仿真

Hardware-in-the-loop dynamic simulations of an off-road vehicle with active four-wheel steering.

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