在ADAMS/View中建立五轴汽车模型,为实现联合仿真,在Simulink中建立可视化的控制模型,该系统可以实现PID/D(基于横摆角速度的PID策略,用于动态调整转向中心到第一轴的距离D)和D值固定(Fixed D value,FD)控制模式的切换。为验证PID/D控...在ADAMS/View中建立五轴汽车模型,为实现联合仿真,在Simulink中建立可视化的控制模型,该系统可以实现PID/D(基于横摆角速度的PID策略,用于动态调整转向中心到第一轴的距离D)和D值固定(Fixed D value,FD)控制模式的切换。为验证PID/D控制策略的可行性,进行了方向盘转角脉冲仿真对比试验,并按照有关标准进行评分。结果表明,PID/D控制策略的仿真试验的评分结果为77.51,FD控制策略的仿真试验的评分结果为76.3,PID/D控制策略的评分结果高了1.58%。展开更多
This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as...This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as a robotic mechanism, and the methods and tools are applied to present the relationship of angular displacements of input shaft and output shaft. When the angle between intersecting shafts changes from 0 degree to 135 degrees, the results show that the velocities of input shaft and output shaft are almost the same with the actual values. This study provides a new method to investigate this mechanism in detail. The obtained results not only provide the sub-parameters （the displacement of guide arms and connecting arms）, but also help to have a deeper understanding about the operation of Persian joint in order to develop the design of Persian joint in the future.展开更多
文摘在ADAMS/View中建立五轴汽车模型,为实现联合仿真,在Simulink中建立可视化的控制模型,该系统可以实现PID/D(基于横摆角速度的PID策略,用于动态调整转向中心到第一轴的距离D)和D值固定(Fixed D value,FD)控制模式的切换。为验证PID/D控制策略的可行性,进行了方向盘转角脉冲仿真对比试验,并按照有关标准进行评分。结果表明,PID/D控制策略的仿真试验的评分结果为77.51,FD控制策略的仿真试验的评分结果为76.3,PID/D控制策略的评分结果高了1.58%。
文摘This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as a robotic mechanism, and the methods and tools are applied to present the relationship of angular displacements of input shaft and output shaft. When the angle between intersecting shafts changes from 0 degree to 135 degrees, the results show that the velocities of input shaft and output shaft are almost the same with the actual values. This study provides a new method to investigate this mechanism in detail. The obtained results not only provide the sub-parameters （the displacement of guide arms and connecting arms）, but also help to have a deeper understanding about the operation of Persian joint in order to develop the design of Persian joint in the future.
