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单轨车辆动力学特性研究一般需要一个合适的驾驶员模型。基于郭孔辉的单点预瞄最优曲率模型,利用车辆转向时的Ackerman几何关系和稳态转向时横垂面内力的平衡分别确定目标转向角和目标侧倾角,建立适用于单轨车辆的驾驶员模型。模型重点考虑了驾驶员的预瞄、驾驶员对转向手把的转向力矩输入、驾驶员上半身在车座上绕通过髋部的纵向轴线转动的侧倾力矩输入以及驾驶员的动作滞后。为使实际转向角和侧倾角跟随目标转向角和目标侧倾角变化,转向力矩和侧倾力矩皆采用PD控制。采用ADAMS软件建立了驾驶员—车辆闭环动力学模型,并按双移线和蛇行两种典型行驶工况进行仿真。仿真结果表明车辆可以很好地跟随所设定的路径,验证了驾驶员模型的合理性。所建立的驾驶员模型适用于单轨车辆人—车闭环控制模型的动力学仿真研究。
Research on monorail vehicle dynamics generally requires a suitable driver model. Based on the single-point pre-sight optimal curvature model of Guo Konghui, the target steering angle and the target roll angle are determined respectively by the Ackerman’s geometric relation when the vehicle is steered and the balance between the internal forces of the vertical plane during steady state steering, and the driver’s model suitable for the monorail vehicle is established . The model focuses on the driver’s preview, the driver’s steering torque input to the steering handlebar, the driver’s upper body around the seat, the roll moment input around the hip’s longitudinal axis, and the driver’s hysteresis. In order to make the actual steering angle and the roll angle follow the target steering angle and the target roll angle, both the steering torque and the roll torque are controlled by the PD. The closed-loop dynamics model of driver-vehicle was established by using ADAMS software and simulated according to two typical driving conditions of double shift line and meandering. The simulation results show that the vehicle can follow the set path well and verify the rationality of the driver model. The established driver model is suitable for the dynamic simulation research on the closed-loop control model of monorail vehicle.