作者：卢涛1, 吴晓杰2
作者单位：1. 乌海职业技术学院机电工程系, 内蒙古 乌海 016000;
2. 吉林大学 汽车仿真与控制国家重点实验室, 吉林 长春 130022
关键词：汽车简化模型;侧偏刚度辨识;序列二次规划;三次样条插值;BP神经网络
摘要：
建立轮胎模型与车辆模型是汽车动力学研究不可或缺的重要部分，但是这两部分建模有一定难度且成本较大。为解决这一问题，建立车辆二自由度模型，以对标CarSim输出为目标，选取角阶跃工况，采用序列二次规划的优化算法，对前后轴侧偏刚度进行辨识。为更加精确地拟合侧偏刚度曲线，分别使用三次样条插值和BP神经网络，对侧偏刚度随车速和方向盘转角的变化关系进行拟合，得到拟合曲线。将拟合曲线加入二自由度模型，用于模型仿真时计算前后轴侧偏刚度，得到两种汽车简化模型。最后，选取双移线工况和圆周加速工况，对简化模型进行验证。结果表明，简化模型输出与CarSim输出吻合很好，两种简化模型差别不大，随着车速增大，误差会增大一些，但在准许范围内。说明该文所建立的简化模型可以很好地模拟车辆行为，轮胎侧偏刚度曲线可以很好地反映轮胎的非线性特性，省去轮胎建模过程和车辆建模过程，节约成本。
Identification of cornering stiffness and research on simplified vehicle models
LU Tao1, WU Xiaojie2
1. Department of Mechanical and Electrical Engineering, Wuhai Vocational and Technical College, Wuhai 016000, China;
2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
Abstract: Establishing tire model and vehicle model are indispensable parts of vehicle dynamics. However, these two kinds of models are difficult to complete and cost much. In order to solve these problems, a two-degree-of-freedom model of vehicle was established. Aiming at obtaining the close output bewteen established model and CarSim, sequential quadratic programming algorithm was used to identify the cornering stiffness of the front and rear axles under angular step conditions. Cubic spline interpolation and BP neural network were respectively used to construct the curve of cornering stiffness. Two simplified vehicle models were established through combining the two-degree-of-freedom model with the two curves of cornering stiffness. Finally, two simplified vehicle models were verified under the double line shifting condition and the circular acceleration condition. The results show that the output of two simplified models are in good agreement with the output of CarSim. Output of two simplified models is approximative. As the vehicle speed increases, the error will increase, but within the allowable range. Therefore, two simplified models can simulate vehicle behavior well. The tire cornering stiffness curve can well reflect the non-linear characteristics of the tire. With the simplified vehicle model, we don't need the tire modeling process and vehicle modeling process. It can cost saving.
Keywords: simplified vehicle model;identification of cornering stiffness;sequential quadratic programming;cubic spline interpolation;BP neural network
2023, 49(5):97-107 收稿日期: 2021-05-26;收到修改稿日期: 2021-10-22
基金项目:
作者简介: 卢涛(1980-),男,河南周口市人,讲师,硕士,研究方向为车辆工程
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