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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control
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The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

机译：伊利诺伊州道路模拟器：用于车辆动力学和控制的机电一体化试验台

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The Illinois Roadway Simulator (IRS) is a novel, mechatronic, scaled testbed used to study vehicle dynamics and controls. An overview of this system is presented, and individual hardware issues are addressed. System modeling results on the vehicles and hardware are introduced, and comparisons of the resulting dynamics are made with full-sized vehicles. Comparisons are made between dynamic responses of full-scale and IRS-scale vehicles. The method of dynamic similitude is a key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles to a first approximation. The IRS is then used in a vehicle control case study to demonstrate the potential benefits of scaled investigations. The idea of driver-assisted control is formulated as a yaw-rate model-following problem based on the representation of the driver as a known disturbance model. The controller is designed and implemented to show that the vehicle's dynamics can be changed to match a prescribed reference model.
机译：伊利诺伊州道路模拟器（IRS）是一种新型的机电一体化比例试验台，用于研究车辆动力学和控制。介绍了该系统的概述，并解决了各个硬件问题。介绍了有关车辆和硬件的系统建模结果，并与大型车辆进行了动力学比较。在全尺寸和IRS尺寸车辆的动态响应之间进行比较。动态模拟方法是在比例化测试平台上获得信心的关键，因为它可以将实际车辆精确地表示为一阶近似值。然后，IRS用于车辆控制案例研究，以证明大规模调查的潜在好处。基于驾驶员作为已知扰动模型的表示，将驾驶员辅助控制的思想表述为偏航率模型跟随问题。控制器的设计和实现可以显示出可以改变车辆的动态特性以匹配规定的参考模型。

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