Part 1
{ m ( v ˙ x − v y γ ) = F x f cos δ f + F x r cos δ r − F y f sin δ f − F y r sin δ r − F R m ( v ˙ y + v x γ ) = F x f sin δ f + F x r sin δ r + F y f cos δ f + F y r cos δ r I z γ ˙ = L f ( F x f sin δ f + F y f cos δ f ) − L r ( F x r sin δ r + F y r cos δ r ) (1) \begin{cases} m(\dot{v}_x-v_y\gamma)=F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R\\[2ex] m(\dot{v}_y+v_x\gamma)=F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r\\[2ex] I_z\dot{\gamma}=L_f(F_{xf}\sin\delta_f+F_{yf}\cos\delta_f)-L_r(F_{xr}\sin\delta_r+F_{yr}\cos\delta_r) \end{cases} \tag{1} ⎩ ⎨ ⎧m(v˙x−vyγ)=Fxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FRm(v˙y+vxγ)=Fxfsinδf+Fxrsinδr+Fyfcosδf+FyrcosδrIzγ˙=Lf(Fxfsinδf+Fyfcosδf)−Lr(Fxrsinδr+Fyrcosδr)(1)
整理可得:
{
v
˙
x
=
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
m
+
v
y
γ
v
˙
y
=
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
m
−
v
x
γ
γ
˙
=
L
f
(
F
x
f
sin
δ
f
+
F
y
f
cos
δ
f
)
−
L
r
(
F
x
r
sin
δ
r
+
F
y
r
cos
δ
r
)
I
z
(2)
\begin{cases} \dot{v}_x=\dfrac{F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R}{m}+v_y\gamma\\[2ex] \dot{v}_y=\dfrac{F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r}{m}-v_x\gamma\\[2ex] \dot{\gamma}=\dfrac{L_f(F_{xf}\sin\delta_f+F_{yf}\cos\delta_f)-L_r(F_{xr}\sin\delta_r+F_{yr}\cos\delta_r)}{I_z} \end{cases} \tag{2}
⎩
⎨
⎧v˙x=mFxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FR+vyγv˙y=mFxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr−vxγγ˙=IzLf(Fxfsinδf+Fyfcosδf)−Lr(Fxrsinδr+Fyrcosδr)(2)
Part 2
将重心速度转化到惯性坐标系中:
{
X
˙
=
v
cos
(
β
+
φ
)
Y
˙
=
v
sin
(
β
+
φ
)
\begin{cases} \dot{X}=v\cos(\beta+\varphi)\\[2ex] \dot{Y}=v\sin(\beta+\varphi) \end{cases}
⎩
⎨
⎧X˙=vcos(β+φ)Y˙=vsin(β+φ)
求导可得
{
X
¨
=
−
v
sin
(
β
+
φ
)
(
β
˙
+
φ
˙
)
+
v
˙
cos
(
β
+
φ
)
Y
¨
=
v
cos
(
β
+
φ
)
(
β
˙
+
φ
˙
)
+
v
˙
sin
(
β
+
φ
)
\begin{cases} \ddot{X}=-v\sin(\beta+\varphi)(\dot{\beta}+\dot{\varphi})+\dot{v}\cos(\beta+\varphi)\\[2ex] \ddot{Y}=v\cos(\beta+\varphi)(\dot{\beta}+\dot{\varphi})+\dot{v}\sin(\beta+\varphi) \end{cases}
⎩
⎨
⎧X¨=−vsin(β+φ)(β˙+φ˙)+v˙cos(β+φ)Y¨=vcos(β+φ)(β˙+φ˙)+v˙sin(β+φ)
再把加速度转换到车辆重心坐标系中:
{
x
¨
=
X
¨
cos
φ
+
Y
¨
sin
φ
=
−
v
(
β
˙
+
γ
)
sin
β
+
v
˙
cos
β
y
¨
=
−
X
¨
sin
φ
+
Y
¨
cos
φ
=
v
(
β
˙
+
γ
)
cos
β
+
v
˙
sin
β
\begin{cases} \ddot{x}=\ddot{X}\cos\varphi+\ddot{Y}\sin\varphi=-v(\dot{\beta}+\gamma)\sin\beta+\dot{v}\cos\beta\\[2ex] \ddot{y}=-\ddot{X}\sin\varphi+\ddot{Y}\cos\varphi=v(\dot{\beta}+\gamma)\cos\beta+\dot{v}\sin\beta \end{cases}
⎩
⎨
⎧x¨=X¨cosφ+Y¨sinφ=−v(β˙+γ)sinβ+v˙cosβy¨=−X¨sinφ+Y¨cosφ=v(β˙+γ)cosβ+v˙sinβ
即
{
−
v
(
β
˙
+
γ
)
sin
β
+
v
˙
cos
β
=
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
m
v
(
β
˙
+
γ
)
cos
β
+
v
˙
sin
β
=
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
m
(6)
\begin{cases} -v(\dot{\beta}+\gamma)\sin\beta+\dot{v}\cos\beta=\\[2ex]\qquad\dfrac{F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R}{m}\\[3ex] v(\dot{\beta}+\gamma)\cos\beta+\dot{v}\sin\beta=\\[2ex]\qquad\dfrac{F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r}{m} \end{cases}\tag{6}
⎩
⎨
⎧−v(β˙+γ)sinβ+v˙cosβ=mFxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FRv(β˙+γ)cosβ+v˙sinβ=mFxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr(6)
则
{
v
˙
=
cos
β
m
[
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
]
+
sin
β
m
[
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
]
β
˙
=
cos
β
m
v
[
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
]
−
sin
β
m
v
[
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
]
−
γ
\begin{cases} \dot{v}=\dfrac{\cos\beta}{m}\Big[F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R\Big]\\[2ex]\quad+\dfrac{\sin\beta}{m}\Big[F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r\Big]\\[3ex] \dot{\beta}=\dfrac{\cos\beta}{mv}\Big[F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r\Big]\\[2ex]\quad-\dfrac{\sin\beta}{mv}\Big[F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R\Big]-\gamma \end{cases}
⎩
⎨
⎧v˙=mcosβ[Fxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FR]+msinβ[Fxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr]β˙=mvcosβ[Fxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr]−mvsinβ[Fxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FR]−γ
因此以车身侧偏角、横摆角速度和车速为状态变量的车辆动力学方程的完整表达式如下:
{
v
˙
=
cos
β
m
[
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
]
+
sin
β
m
[
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
]
β
˙
=
cos
β
m
v
[
F
x
f
sin
δ
f
+
F
x
r
sin
δ
r
+
F
y
f
cos
δ
f
+
F
y
r
cos
δ
r
]
−
sin
β
m
v
[
F
x
f
cos
δ
f
+
F
x
r
cos
δ
r
−
F
y
f
sin
δ
f
−
F
y
r
sin
δ
r
−
F
R
]
−
γ
γ
˙
=
L
f
(
F
x
f
sin
δ
f
+
F
y
f
cos
δ
f
)
−
L
r
(
F
x
r
sin
δ
r
+
F
y
r
cos
δ
r
)
I
z
\begin{cases} \dot{v}=\dfrac{\cos\beta}{m}\Big[F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R\Big]\\[2ex]\quad+\dfrac{\sin\beta}{m}\Big[F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r\Big]\\[3ex] \dot{\beta}=\dfrac{\cos\beta}{mv}\Big[F_{xf}\sin\delta_f+F_{xr}\sin\delta_r+F_{yf}\cos\delta_f+F_{yr}\cos\delta_r\Big]\\[2ex]\quad-\dfrac{\sin\beta}{mv}\Big[F_{xf}\cos\delta_f+F_{xr}\cos\delta_r-F_{yf}\sin\delta_f-F_{yr}\sin\delta_r-F_R\Big]-\gamma\\[3ex] \dot{\gamma}=\dfrac{L_f(F_{xf}\sin\delta_f+F_{yf}\cos\delta_f)-L_r(F_{xr}\sin\delta_r+F_{yr}\cos\delta_r)}{I_z} \end{cases}
⎩
⎨
⎧v˙=mcosβ[Fxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FR]+msinβ[Fxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr]β˙=mvcosβ[Fxfsinδf+Fxrsinδr+Fyfcosδf+Fyrcosδr]−mvsinβ[Fxfcosδf+Fxrcosδr−Fyfsinδf−Fyrsinδr−FR]−γγ˙=IzLf(Fxfsinδf+Fyfcosδf)−Lr(Fxrsinδr+Fyrcosδr)
Part 3
忽略轮胎的纵向力,只有前轮转向,令
sin
β
=
β
,
cos
β
=
1
\sin\beta=\beta,\cos\beta=1
sinβ=β,cosβ=1,且令
{
F
y
f
=
k
f
α
f
F
y
r
=
k
r
α
r
\begin{cases} F_{yf}=k_f\alpha_f\\[2ex] F_{yr}=k_r\alpha_r \end{cases}
⎩
⎨
⎧Fyf=kfαfFyr=krαr
可得
{
β
˙
=
−
k
f
+
k
r
m
v
β
+
(
−
k
f
L
f
−
k
r
L
r
m
v
2
−
1
)
γ
+
k
f
δ
f
m
v
γ
˙
=
−
k
f
L
f
−
k
r
L
r
I
z
β
−
k
f
L
f
2
+
k
r
L
r
2
I
z
v
γ
+
k
f
L
f
I
z
δ
f
\begin{cases} \dot{\beta}=-\dfrac{k_f+k_r}{mv}\beta+\Big(-\dfrac{k_fL_f-k_rL_r}{mv^2}-1\Big)\gamma+\dfrac{k_f\delta_f}{mv}\\[3ex] \dot{\gamma}=-\dfrac{k_fL_f-k_rL_r}{I_z}\beta-\dfrac{k_fL_f^2+k_rL_r^2}{I_zv}\gamma+\dfrac{k_fL_f}{I_z}\delta_f \end{cases}
⎩
⎨
⎧β˙=−mvkf+krβ+(−mv2kfLf−krLr−1)γ+mvkfδfγ˙=−IzkfLf−krLrβ−IzvkfLf2+krLr2γ+IzkfLfδf
即
[
β
˙
γ
˙
]
=
[
−
k
f
+
k
r
m
v
−
k
f
L
f
−
k
r
L
r
m
v
2
−
1
−
k
f
L
f
−
k
r
L
r
I
z
−
k
f
L
f
2
+
k
r
L
r
2
I
z
v
]
⋅
[
β
γ
]
+
[
k
f
m
v
k
f
L
f
I
z
]
δ
f
\left[ \begin{matrix} \dot{\beta} \\[2ex] \dot{\gamma} \\ \end{matrix} \right]= \left[ \begin{matrix} -\dfrac{k_f+k_r}{mv} & -\dfrac{k_fL_f-k_rL_r}{mv^2}-1\\[2ex] -\dfrac{k_fL_f-k_rL_r}{I_z} & -\dfrac{k_fL_f^2+k_rL_r^2}{I_zv} \\ \end{matrix} \right]\cdot \left[ \begin{matrix} {\beta} \\[2ex] {\gamma} \\ \end{matrix} \right]+ \left[ \begin{matrix} \dfrac{k_f}{mv} \\[2ex] \dfrac{k_fL_f}{I_z} \\ \end{matrix} \right]\delta_f
β˙γ˙
=
−mvkf+kr−IzkfLf−krLr−mv2kfLf−krLr−1−IzvkfLf2+krLr2
⋅[βγ]+
mvkfIzkfLf
δf
即
x
˙
=
A
x
+
B
\dot{x}=Ax+B
x˙=Ax+B
Part 4
[ F y f F y r ] = [ k f 0 0 k r ] [ α f α r ] = [ k f 0 0 k r ] [ 1 L f v 1 − L r v ] [ β γ ] − [ δ f 0 ] = [ k f k f L f v k r − k r L r v ] [ β γ ] + [ − δ f 0 ] \left[ \begin{matrix} F_{yf} \\[2ex] F_{yr} \\ \end{matrix} \right]= \left[ \begin{matrix} k_f & 0 \\[2ex] 0 & k_r \\ \end{matrix} \right] \left[ \begin{matrix} \alpha_f \\[2ex] \alpha_r \\ \end{matrix} \right]= \left[ \begin{matrix} k_f & 0 \\[2ex] 0 & k_r \\ \end{matrix} \right] \left[ \begin{matrix} 1 & \dfrac{L_f}{v} \\[2ex] 1 & -\dfrac{L_r}{v} \\ \end{matrix} \right] \left[ \begin{matrix} \beta \\[2ex] \gamma \\ \end{matrix} \right]- \left[ \begin{matrix} \delta_f \\[2ex] 0 \\ \end{matrix} \right]= \left[ \begin{matrix} k_f & \dfrac{k_fL_f}{v}\\[2ex] k_r & -\dfrac{k_rL_r}{v} \\ \end{matrix} \right]\left[ \begin{matrix} \beta \\[2ex] \gamma \\ \end{matrix} \right]+ \left[ \begin{matrix} -\delta_f \\[2ex] 0 \\ \end{matrix} \right] [FyfFyr]=[kf00kr][αfαr]=[kf00kr] 11vLf−vLr [βγ]−[δf0]= kfkrvkfLf−vkrLr [βγ]+[−δf0]
即
z
=
C
x
+
D
z=Cx+D
z=Cx+D
令
{
x
=
C
−
1
(
z
−
D
)
x
˙
=
C
−
1
z
˙
\begin{cases} x=C^{-1}(z-D)\\[2ex] \dot{x}=C^{-1}\dot{z} \end{cases}
⎩
⎨
⎧x=C−1(z−D)x˙=C−1z˙
有
C
−
1
z
˙
=
A
C
−
1
(
z
−
D
)
+
B
z
˙
=
C
A
C
−
1
z
+
C
B
−
C
A
C
−
1
D
C^{-1}\dot{z}=AC^{-1}(z-D)+B\\ \dot{z}=CAC^{-1}z+CB-CAC^{-1}D
C−1z˙=AC−1(z−D)+Bz˙=CAC−1z+CB−CAC−1D
即
[
F
y
f
˙
F
y
r
˙
]
=
H
[
F
y
f
F
y
r
]
+
G
\left[ \begin{matrix} \dot{F_{yf}} \\[2ex] \dot{F_{yr}} \\ \end{matrix} \right]= H\left[ \begin{matrix} F_{yf} \\[2ex] F_{yr} \\ \end{matrix} \right]+G
Fyf˙Fyr˙
=H[FyfFyr]+G
其中 H = C A C − 1 , G = C B − C A C − 1 D H=CAC^{-1},G=CB-CAC^{-1}D H=CAC−1,G=CB−CAC−1D