半挂汽车转向稳定性反馈线性化控制  

Feedback linearization for steering stability control of tractor-semitrailer

作　　者：许洪国[1] 彭涛[1] 刘宏飞[1] 许言[1] 

机构地区：[1]吉林大学交通学院,长春130022

出　　处：《吉林大学学报（工学版）》2012年第2期272-278,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：'十一五'国家科技支撑计划项目(2009BAG13A04);'863'国家高技术研究发展计划项目(2009AA11Z201);吉林大学基本科研业务费项目(200903219)

摘　　要：建立了半挂汽车非线性动力学模型,分析了车辆在低附着系数路面上高速转向行驶稳定性。采用遗传算法和相平面法估计了行驶速度为16.7～25m/s时车辆稳态前轮临界转角。基于非线性反馈线性化跟踪控制理论,以牵引车横摆角速度和铰接角为控制对象,设计了半挂汽车前轮主动转向和鞍座直接横摆力矩联合控制的前馈和反馈复合控制器。车辆高速阶跃转向和单移线工况仿真结果表明:联合控制器对于提高半挂汽车横向稳定性效果较好。A nonlinear dyriamic model was built for the tractor-semitrailer and the high-speed steering stability on the low adhesive coefficient road, such as icy and snowy roads, was analyzed. The steady critical steering angles of the front wheel at the speed range of 16.7-25.0 m/s were estimated using the genetic algorithm and the phase plane method. Based on the linearization tracking theory of the nonlinear feedback, a combined feedforward and feedback controller was designed to control the front wheel active steering and the saddle direct yaw moment of the tractoremitrailer. The simulation of vehicle urgent step steering and single lane change at high speed driving condition showed that the designed controller can improve the lateral stability of the tractor-semitrailer.

关 键 词：车辆工程 半挂汽车 非线性动力学模型 反馈线性化 转向稳定性 

分 类 号：U469.5[机械工程—车辆工程]