4．1仿真數據的選取和處理
本文是在Matlab／Simulink的仿真環境下進行建模與仿真。仿真研究中車輛模型各相關參數取值為：m=1200kg，a=1．32m，b=1．22m，L=2．54m，B=1．41m，h=0．6m，J2=450kg*m2，前輪側偏剛度和Cf=21000N／rad，后輪側偏剛度和Cr=24000N／rad。神經網絡控制器的數據均進行歸一化處理。
4．2仿真結果及分析
圖4足控制模型訓練過程中誤差函數的變化曲線。圖巾橫坐標為訓練次數，縱坐標為誤差變化率。可見，當訓練300次之后，模犁的訓練性能誤差可達1．41971。系統已經達到了要求的誤差范同之內。
圖4電子差速模型的性能曲線
圖5兩后輪輪心速度
本文對差速模犁進行了動態仿真，汽車原始速度為10m／s勻速運行，第0秒時，轉向角δ變為100，圖5為仿真結果。圖中橫牮標為時間，縱坐標為車輪輪速。由仿真結果可以看出，當產生轉向角之后，內側后輪速度減小，外側后輪速度增大，兩后輪之間有一定的速度差。差速的產生使得汽車能夠乎穩轉向。
圖6為u=10m／s和u=20m／s時，δ由0變為30°的仿真結果。仿真時長為30s。
U=10m／s
U=20m／s
圖6不同車速時輪速隨轉向角的變化
根據上述仿真結果可以看出，對于一個車體，轉彎時，內側車輪速度減小，外側車輪速度增大，轉向角度越大，兩驅動輪之間差速越大；當前車速越大，兩驅動輪問差速越大。基于神經網絡模型參考自適應建立的電子差速控制模型誤差小，能夠達到很好的差果。
6AV3503-1DB10
Fanuc Computer Board A20B-2902-0210
ALLEN BRADLEY 1336S-BRF50-AA-?EN4-HA2-L6
Banner Presence Plus Pro Controller Model# PPCTL Used
helios Modular Power Rectifier
Allen - Bradley PCL SCL 5/04 CPU
Allen Bradley SLC 500 Cable 1747-C11 Ser. A Used
MODICON AS-J830-001 ASCII LANGUAGE MODULE
Fanuc Computer Board A20B-2902-0020
CUTLER HAMMER/OPCON 8170A-6501 PHOTOELECTRIC CONTROL
BTM STC - VP Tri - Lok Power Clamps
YASKAWA MOTIONPACK 33 CONTROLLER CMPC-CM33DE
Fanuc Servo Amplifier Type A06B-6058-H227
Allen Bradley European EMC Directive Material 1747-FC
Siemens 3RK1300-1AS01-0?AA1 Profibus Starter EM 300 DS
Allen Bradley Data Terminal/Scanne?r 2708-DH502 2755-G3
Allen Bradley Photoswitch Cat#42GRU-9202 Used
Fanuc Computer Board A20B-2902-0371
IFM Ecomat200 Power Supply Part# DN2011 NIB
Allen Bradley Size 2 Starter Enclosure
Allen Bradley Loop Controller Cat# 1771-LC1/B Used
Fanuc Pulse Coder A64 Part# A860-0360-T201 Used
Fanuc Velocity Control PArt# A06B-6050-H002 Used
Fanuc Velocity Control PArt# A06B-6050-H102 Used
Allen Bradley Digital Servo Module Cat# 1394C-SJT10-A
Allen Bradley Swingarm Cat# 1771-WI Used
Allen Bradley Charger Board Cat# 1336-PB-SP2C Used
Allen Bradley Board Snubber Cat# 1336-SN-SP1C Used
Allen Bradley Board Snubber Cat# 1336-SN-SP1D Used
SICK CLV295A0012 OPTIC LASER
Allen Bradley Ultra Series 1398-DDM-009 Used
OMRON C20 I/O UNIT C20-MC222
MODICON TSX QUANTUM 140CPS12400 used
Fanuc Cables Part# 44C741069-010R0?1 Used
Siemens Servo Drive 6SC6114-0AA00 Used
PEPPERL & FUCHS NJ2-F-E02-1.025?-V1 PROXIMITY SENSOR
Modicon AS-J810-000 remote I/O
Allen Bradley Cable Cat# A22105-134-01 Used
GE Drive AF-300E$ Model# 6KAF323F50E$A1 Used Good.
PEPPERL & FUCHS NBB1-5L2-A2-C-V?1 PROXIMITY SENSORS *NIB
IFM EFFECTOR PROXIMITY SENSOR E20829 *NIB
RELIANCE ELECTRIC AUTOMAX 6010 PROCESSOR 57C430A
PEPPERL & FUCHS PROXIMITY SENSOR NJ-40-U4-W-BHMS?3 *NIB
Allen Bradley DeviceNet T-Connector 1485P-P1N5-MN5R?1
Allen Bradley Push Button Acc. 800T-N42 Ser C NIB Amber
Allen Bradley PowerFlex 700S Assembly Set 316857-C02
GE FANUC MICRO PROGRAMMABLE IC620MAA014B
BOSCH SERVO DRIVE PSS 5000(1070081259?-100)
Allen Bradley VersaView 1200M Screen and 200R Ind. Cptr
Keyence PNP Connector Part# OP-5148 Used
Allen Bradley Starter Auxillary Cat# 100-DNY41R Used
Allen Bradley AC Drive CCat# 1336S-B015-AN-E?N4-L6 Used
Square D Size 3 Combo Box Part# 8538 SEA 13 FTX5 Used
Modicon Processor Model# PC-E984-385 Used
Danfoss Hydraulic Pump 11B1E1B2-R20 Refurbished
Allen Bradley 1 MB Memory Mod Cat# 2711-NM12 Ser B Used
Char-Lynn Motor Part# 101-1070-009 NIB
Dukane process controller 4305 DPC III With Sequencer
Continental Hydraulics Pump Part# PVR1-8B10-RM-0-?1-1
Continental Hydraulics Pump Part# PVR1-6B10-RM-0-?1-1
Allen Bradley Servo Drive Cat# 1394-AM50-IH Used
Allen Bradley 500-FOD930 Size Five Contactor Used
Reliance AC Servo Drive Vectrive VCIB-06 Used
ATLAS COPCO MACS COMPACT CONTROLLER 8432-1100-16 *WORKS
Relaince Servo Drive DDS-TLII/ DSA-MTR-12A2 used
Reliance Converter Drive Vectrive ACDA-33 Used
Continental Hydraulics Pump Part# PVR6-6B20-RF-O-?6-H
GE Contactor Part#CK95BE300 110/120VAC Used
SICK CLV295A1012 OPTIC LASER
Allen Bradley 50HP 460V Board Cat# 1336-BDB-SP18D Used
Magnetek Drive 75HP Drive GPD515C-B096 Used
ATLAS COPCO POWER BOX RETRO FITTED 9040120158
Kebco Power Transmissions 2HP 9751A197/27080 used
Allen Bradley Power Supply Cat# 1606XLDNET4 Used
Allen Bradley 2711-NM3 NIB EEPROM MEMORY CHIP SET
Banner Mini Screen GMMSDINT-1T2
Allen Bradley 2700A-M2 NIB
BOSCH SERVO DRIVE 1070077958-200
Allen Bradley Power Supply Cat# 1606XL120D Used
Graymills Liftkleen Parts Washer Model# TH2420SL Used
Graymills Liftkleen Parts Washer Model# TH2420SL Used
Fanuc Servo Encoder Part# A860-0360-V501 Used
Fanuc/Hitatchi Memory Board Part# A16B-1211-0091/?05C
Modicon TSX Quantum PLC card Part# 140CPS11410 Used
Reliance AC Servo Drive Vectrive VCIB-16 Used
Demag Type D04 with Motor KBA71B4
Mitsubishi Mazak Servo Drive Amp MR-S11-80-E01 NIB
Indramat Power Supply Part# TVD1.2-08-03 Used
Siemens Simatic S7 PLC Part# 6es7 216-2bd00-0xb0 Used
Reliance Automate 15 Programable Controller M/N 45C15
SIEMENS ZONE INDICATING CARD ZIC-4A
FUJI ELECTRIC FVR0.4E9S-7EN INVERTER DRIVE
Westinghouse Type RSL 2000 KVA Transformer 11500-480Y
Allen Bradley SMC Plus Enclosure Cat# 150-A24JBDA Used
Vickers Flow Control Valve Model# FCG 02 1500 50 Refurb
Buss Dual Element Time-Delay Fuse LPJ-300SP Used
Siemens PLC card Cat# 6FM1610-2BB00 Used
Mitsubishi Mazak Servo Drive Amp MR-S11-103-E01 Used
ABB ACS550 23 Amp Drive Part# ACS550-U1-023A-?4 Used
SIEMENS SIMODRIVE 6SC-6506-4AA02 DC SERVO DRIVE
Gamifor Drive Part# FC4000/15 Used
Allen Bradley 2700C-S1 used
Fanuc Circuit Board Model# A16B-1211-0060/?10C Used
Fanuc Circuit Board Model# A16B-1211-0062/?08B Used
Fanuc Circuit Board Model# A16B-1211-0030/?02A Used
Square D Limit Switch Class 9007 Type C62A2 Used
Yaskawa Servopack SGDH-20AE Used
Emerson Digital Servo Drive En-214 Part# 960502-06 Used
ALLEN BRADLEY 1485K-P4F5-C SER A. *NIB CORDSET
Allen Bradley 2711-NM2 EEPROM Chipset New
Vickers Proportional Valve KBFDG4V 5 2C70N Z PE7 H7 10
Allen Bradley 1794-IB16 Flex Block
ABB I/O Module Part# DSQC-239 Used
Allen Bradley Cable Cat# 1761-CBL-AP00 Used
OMRON SYSMAC CQM1 PROGRAMMABLE CONTROLLER
Modicon Processor Model# PC-E984-685 Used NO HANDLE
Westinghouse Size 5 Starter A200M5CAC Model J 120V Coil
Square D Fusible Starter Enclosure Typ 12/3R
Allen - Bradley 5120 - P1
MITSUBISHI PROGRAMMABLE CONTROLLER A0J2-E32D
ABB Board Part# 3HAB8797-1/2B DSQ 266B Used
TI 500-2109 Base Controller
Modicon AS-P120-000 power supply
Allen Bradley 2705-T3DN1A42A Redi Station
ALLEN BRADLEY 1336S-BRF30-AA-?EN4-HA2-L6
Ronnigen Petter Fabri Basket SE Series Filter Pot Used
Fanuc Circuit Board Cat# A2B-060/03B Used
Allen Bradley Control Logix 1756-L55/A With M13/A Used
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