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استفاده از نیروی جانبی تایر برای افزایش مانورپذیری یک خودروی سه‌چرخ در شرایط بحرانی | ||
| مکانیک هوافضا | ||
| مقاله 12، دوره 18، شماره 4 - شماره پیاپی 70، دی 1401، صفحه 163-179 اصل مقاله (1.48 M) | ||
| نوع مقاله: گرایش دینامیک، ارتعاشات و کنترل | ||
| نویسنده | ||
| محمدامین سعیدی* | ||
| استادیار، دانشکده مهندسی مکانیک، دانشگاه تربیت دبیرشهیدرجایی، تهران، ایران | ||
| تاریخ دریافت: 26 مرداد 1401، تاریخ بازنگری: 16 شهریور 1401، تاریخ پذیرش: 26 مهر 1401 | ||
| چکیده | ||
| در این مقاله افزایش پایداری چرخشی خودروی سه‌چرخ با استفاده از یک سیستم کنترلی جدید موردبررسی قرارگرفته است. بدین منظور یک مدل دینامیکی غیرخطی دوازده درجه آزادی برای شبیهسازی دینامیک جانبی یک خودروی سه‌چرخ توسعه داده‌شده است و با استفاده از نرم‌افزار کارسیم در مانورهای استاندارد صحهگذاری میشود. درجات آزادی مدل دینامیکی شامل سرعت طولی، جانبی، عمودی، زاویه رول، پیچ و یاو برای مرکز جرم خودرو، سه درجه آزادی برای جابجایی عمودی و سه درجه آزادی برای حرکت دورانی جرم‌های فنربندی نشده در نظر گرفته‌شده است. همچنین برای بهبود فرمان‌پذیری و افزایش پایداری جانبی، یک سیستم کنترلی فرمان فعال با استفاده از نیروهای جانبی تایر طراحی‌شده است. در سیستم کنترلی، سرعت زاویهای چرخشی و سرعت جانبی خودرو به‌عنوان متغیرهای حالت در نظر گرفته میشوند که میبایستی مقادیر مطلوبشان را تعقیب نمایند. سپس، برای جلوگیری از ناپایداری چرخشی خودرو در مانورهای بحرانی، روش کنترل بهینه بکار گرفته‌شده است. همچنین به‌منظور ارزیابی عملکرد سیستم کنترلی توسعه داده‌شده، یک سیستم کنترلی فرمان فعال بر مبنای روش کنترل فیدبک خطی پیشنهادشده است. سپس عملکرد مدل دینامیکی در حالت کنترل‌شده و بدون کنترل در شرایط جادهای مختلف بررسی‌شده است. نتایج شبیهسازی نشان میدهند که سیستم کنترلی بهینه با حذف خطای سرعت زاویهای چرخشی و مقدار مطلوب آن و محدود ساختن سرعت جانبی، موجب بهبود مانورپذیری و پایداری جانبی در مانورهای بحرانی میشود. | ||
| کلیدواژه‌ها | ||
| عملکرد دینامیکی؛ فرمان‌پذیری؛ ناپایداری؛ خطای تعقیب | ||
| عنوان مقاله [English] | ||
| Using the Lateral Tire Force to Maneuverability Increment of a Three-wheeled Vehicle During Critical Conditions | ||
| نویسندگان [English] | ||
| Mohamad Amin Saeedi | ||
| Assistant Professor, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University, Tehran, Iran | ||
| چکیده [English] | ||
| In this paper, yaw stability increment of a three-wheeled vehicle has been considered using a new control system. Therefore, a nonlinear dynamic model with twelve-degrees-of-freedom to simulate lateral dynamics of the three-wheeled vehicle has been developed and dynamic model validation is done by means of CarSim software during a standard maneuver. The degrees of freedom are the longitudinal, lateral and vertical velocity and the roll, pitch and yaw angle of the sprung mass, three degrees of freedom for the vertical displacement and three degrees of freedom for rotational movement of the unspring masses. Moreover, to improve handling and lateral stability increment, an active steering control system based on the lateral tire forces has been designed. In the control system, the yaw rate and the lateral velocity of the dynamic model are studied as control states in which must track their desired values. Then, to avoid yaw instability during severe maneuvers, linear quadratic control system (LQR) has been used. Furthermore, to evaluate the performance of the developed control system, an active steering control system has been proposed employing linearization feedback control method. Then, the performance of the dynamic model has been evaluated during without control and controlled conditions. The simulation results show that the LQR control system improves maneuverability and lateral stability during critical maneuver by elimination the error between the yaw rate and its desired value and the lateral velocity restriction. | ||
| کلیدواژه‌ها [English] | ||
| Dynamic Performance, Handling, Instability, Tracking error | ||
| مراجع | ||
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آمار تعداد مشاهده مقاله: 182 تعداد دریافت فایل اصل مقاله: 223 |
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