基于主动制动的半挂汽车列车横摆稳定性控制  

Yaw Stability Control for Tractor-Semitrailer Combination Based on Active Braking

作　　者：杨秀建[1] 杨春曦[2] 张弦[1] 屈瑞[1] 

机构地区：[1]昆明理工大学交通工程学院,云南省内燃机重点实验室,昆明650224 [2]昆明理工大学化学工程学院,昆明650224

出　　处：《汽车工程》2011年第11期955-961,共7页Automotive Engineering

基　　金：国家自然科学基金项目(51005109)资助

摘　　要：为研究半挂汽车列车在高速大转向等极限操作工况下的横摆稳定性控制问题,建立了14自由度的半挂汽车列车非线性仿真模型;提出了牵引车与半挂车独立直接横摆力矩控制的横摆稳定性控制方案,通过牵引车和半挂车车轮的合理选择和主动制动实现横摆控制;以跟踪参考模型的稳态横摆响应为目标,设计了PI横摆稳定性控制器,对牵引车和半挂车分别设计了目标制动车轮的选择决策规则。单移线操作仿真结果表明,基于主动制动的横摆力矩控制可有效改善极限工况下半挂汽车列车的横摆稳定性,牵引车与半挂车进行独立横摆控制可以减小制动车轮选择决策的复杂性,而获得较好的控制效果。For studying the problem of yaw stability control for tractor-semitrailer combination in critical conditions,a 14-DOF nonlinear model for tractor-semitrailer combination is built and yaw stability control scheme is proposed,in which the yaw moments in the tractor and the semitrailer are controlled separately and proper objective wheels are selected for applying active braking.Specifically,with tracking the steady yaw response of reference model as objective,a PI yaw moment controller is designed and the decision rules of selecting objective braking wheel for the tractor and the semitrailer are defined respectively.The results of single lane change simulation demonstrate that the yaw moment control based on active braking can effectively improve the yaw stability of tractor-semitrailer combination in critical conditions,and individual yaw control for the tractor and the semitrailer can simplify the selection of objective braking wheel and achieve satisfactory control effects.

关 键 词：半挂汽车列车 横摆稳定性控制 主动制动 

分 类 号：U469.5[机械工程—车辆工程] U461.6[交通运输工程—载运工具运用工程]