主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
Automobile Applied Technology

Automobile Applied Technology ›› 2023, Vol. 48 ›› Issue (16): 24-28.DOI: 10.16638/j.cnki.1671-7988.2023.016.005

• Intelligent Connected Vehicle • Previous Articles    

Driverless Formula Car System Dynamics Modeling

WANG Zihan, ZHANG Yong*, HUO Zhengyu   

  1. School of Artificial Intelligence, Beijing Technology and Business University
  • Online:2023-08-30 Published:2023-08-30
  • Contact: ZHANG Yong

无人驾驶方程式赛车系统动力学建模

王子涵，张 勇*，霍政宇   

  1. 北京工商大学 人工智能学院
  • 通讯作者: 张 勇
  • 作者简介:王子涵（2002－），男，研究方向为电气工程及其自动化，E-mail:1144657957@qq.com。 通信作者：张勇（1972－），男，硕士，副教授，研究方向为电力系统建模与仿真，E-mail:zhangf701@126.com。

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Abstract: Taking driverless formula car as the research object, the vehicle dynamics modeling is studied based on MATLAB/Simulink, and the car 3-DoF kinematics mathematical model and dynamics mathematical model are deduced. According to the 3-DoF mathematical model combined with Dugoff tire formula and tire rotation calculation formula, the 7-DoF car dynamics model is derived. The car simulation mathematical model is established in MATLAB/Simulink, and the simulation results of input constant front wheel angle and initial speed are verified, and a test platform is established for the design and test of driverless formula car.

Key words: Car system dynamics; Driverless formula car; Mathematical modeling; MATLAB/ Simulink

摘要： 以无人驾驶方程式赛车作为研究对象，基于 MATLAB/Simulink 研究车辆动力学建模， 推导车辆三自由度运动学数学模型和动力学数学模型。根据三自由度数学模型结合 Dugoff 轮 胎公式和轮胎转动计算公式，推导七自由度车辆动力学模型。在 MATLAB/Simulink 中建立车 辆仿真数学模型，并验证了输入恒定前轮转角和初速度工况的仿真结果，为无人驾驶方程式 赛车设计和测试建立了测试平台。

关键词: 车辆系统动力学；无人驾驶方程式赛车；数学建模；MATLAB/Simulink