湖南大学学报（自然科学版）2016，Vol.43Issue(2)：15-21,7.
基于 Lyapunov 的客车稳定域估计
Estimation of the Stability Region of Bus Based on Lyapunov
摘要
Abstract
In order to address the deficiency of vehicle plane stability region,according to the nonlinear vehicle dynamic model,a method of estimating vehicle spatial stability region was proposed.A 3DOF bus model with Pacejka Magic Formula tire model was deduced and verified by comparing vehicle tests.Based on the Jacobian matrix of the dynamic system,the stability of the vehicle system was discussed with Hur-witz criterion.In addition,by establishing a generalized function for bus system,the full loaded vehicle’s spatial stability region in 20 m/s was given on the basis of Lyapunov theory and vehicle system characteris-tics.A vehicle test in the same condition has shown that the calculated stability region defined by Lya-punov and system stability theorem has a good effect on characterized vehicle stability.It will be a valuable reference for vehicle stability evaluation and control.关键词
客车/稳定性/3DOF非线性车辆模型/Lyapunov方法/能量函数/稳定域Key words
bus/stability/3DOF nonlinear vehicle model/Lyapunov methods/energy function/stabil-ity region分类
交通工程引用本文复制引用
晏愈光,许洪国,刘宏飞..基于 Lyapunov 的客车稳定域估计[J].湖南大学学报（自然科学版）,2016,43(2):15-21,7.基金项目
国家科技支撑计划项目（2009BAG13A04）；国家高技术研究发展计划（“863”计划）项目 （）
