七自由度车辆稳定性数学模型和simulink求解

小鱼儿 2022-12-22 13:28 73阅读 0赞

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70][]  
图一.七自由度车辆动力学模型

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 1][]

上述方程中：δ为前轮转角；Vx，Vy分别为纵向、横向车速；β为质心侧偏角；γ为横摆角速度；Fxi、Fyi、Fzi分别为轮胎纵向力、侧向力、垂向力；i=左前轮fl、右前轮fr、左后轮rl、右后轮rr，为分别对应的车轮；m为整车质量；ms为悬挂质量；a、b为前后轴到质心的距离；l=a+b为前后轴距;tw1为前轴轮距；tw2为后轴轮距； Iz为整车绕Z轴的转动惯量；hg为质心到地面的距离；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 2][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 3][]

车辆参数：

m=2100;Iz=2549;a=1.256;b=1.368;l=a+b;tw1=1.65;tw2=1.65;
    Iw=2.1;hg=0.7;R=0.31;g=9.8;
    
    Vx0=72;mu=0.4;

simulink求解

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 4][]

结果

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 5][]

系统未加反馈控制 控制算法等，做的比较简单，供参考

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 6][]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70]: /images/20221120/666fdd5c540b4d39babf4e92f7373912.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20201120155218186.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/20201120155239708.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/20201120155255377.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 4]: https://img-blog.csdnimg.cn/20201120155741149.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 5]: https://img-blog.csdnimg.cn/20201120160321194.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx_size_16_color_FFFFFF_t_70 6]: https://img-blog.csdnimg.cn/2020101720083741.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FpbmdmZW5neGQx,size_16,color_FFFFFF,t_70