文章基本信息

标题：Clarification and Achievement of Theoretical Limitation in Vehicle Dynamics Integrated Management
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作者：Eiichi ONO ; Yoshikazu HATTORI ; Hiroaki AIZAWA 等
期刊名称：Journal of Environment and Engineering
电子版ISSN：1880-988X
出版年度：2009
卷号：4
期号：1
页码：89-100
DOI：10.1299/jee.4.89
出版社：The Japan Society of Mechanical Engineers
摘要：In this article, a vehicle dynamics integrated control algorithm using an on-line nonlinear optimization method is proposed for 4-wheel distributed steering and 4-wheel distributed traction/braking systems. The proposed distribution algorithm calculates the magnitude and direction of tire forces that satisfy constraints corresponding to the target resultant force and moment of vehicle motion and also minimizes the maximum μ rate (= tire force / friction circle) of each tire. The convexity of this problem is shown, and so global optimality of the convergent solution of the recursive algorithm is guaranteed. This implies that the theoretical limited performance of vehicle dynamics integrated control is clarified. The proposed algorithm is based on SQP (Sequential Quadratic Programming) and the steepest gradient algorithm. Calculation performance of the proposed algorithm is compared that of the primal-dual interior-point method, which is a representative optimization method. Furthermore, the effect of this vehicle dynamics control is demonstrated by a simulation and experiment comparing various vehicle dynamics integrated control methods.
关键词：Automobile;Maneuverability;Optimal Control;Nonlinear Dynamics;Vehicle Dynamics Integrated Management;4-Wheel Distributed Steering;4-Wheel Distributed Traction/Braking