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为简化对车辆侧倾动力学的研究特别是对车身侧倾角的估算和控制,提出针对车身侧倾角的Padé模型降阶方法。该文首先建立了线性三自由度车辆模型,并在此基础上推导出了车身侧倾角的传递函数,由于此传递函数的高阶特性难以用于车辆侧倾动力学的计算与控制中,所以接着对所推导出的侧倾角传递函数进行降阶处理。又考虑到车身侧倾的低频特性以及Padé模型降阶法在低频区能有较好的拟合效果,该文采用Padé模型降阶法对车身侧倾角传递函数进行降阶处理。为了验证降阶后模型的有效性,从时域、频域和复域3个方面分别进行了论证,并通过Truck Sim和Matlab进行了仿真对比。结果表明降阶后的模型在低频区具有较好的逼近效果,此降阶方法可以简化对车辆侧倾动力学的研究,并可以将此降阶模型应用于车身侧倾角的估算和控制中。
In order to simplify the study of vehicle roll dynamics, especially for vehicle body roll angle estimation and control, a method of reducing the Padé model for vehicle body roll angle is proposed. In this paper, a linear three-degree-of-freedom vehicle model is established. Based on this, the transfer function of the vehicle body roll angle is deduced. Because the high-order characteristic of the transfer function is difficult to be used in the calculation and control of vehicle roll dynamics, The derived roll angle transfer function is reduced. Considering the low frequency characteristic of the vehicle body roll and the method of the Padé model reduction method in the low frequency region, this paper uses the Padé model reduction method to reduce the roll angle transfer function of the vehicle body. In order to verify the validity of the reduced-order model, the simulation is carried out from the aspects of time domain, frequency domain and complex domain respectively, and the simulation is carried out by Truck Sim and Matlab. The results show that the reduced model has good approximation effect in low frequency region. This method can simplify the study of vehicle roll dynamics, and can be applied to the estimation and control of vehicle body roll angle.