半挂汽车列车横向稳定性的最优控制  

The Optimal Control of Tractor-semitrailer Steering Stability

作　　者：刘春辉[1] 关志伟[1] 杜峰[1] 周毅[1] 孔超[1] 

机构地区：[1]天津职业技术师范大学汽车与交通学院,天津300222

出　　处：《机械科学与技术》2012年第10期1694-1697,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：教育部科学技术研究重点课题项目(209004);天津市高等学校科技发展基金计划项目(20110405)资助

摘　　要：设计了半挂汽车列车直接横摆力矩的最优控制器,并对其有效性进行了验证。引入Gim轮胎模型建立了半挂汽车列车的非线性动力学模型,以牵引车质心侧偏角、横摆角速度,半挂车横摆角速度及牵引车与半挂车的中心线夹角为控制变量,提出了半挂汽车列车直接横摆力矩的最优控制方案,基于模型追踪控制技术推导了直接横摆力矩的最优控制器。借助Matlab/Simulink,以建立的非线性动力学模型为平台,对该控制器的有效性进行了验证。仿真结果表明:高速大转向时,装备直接横摆力矩最优控制器的半挂汽车列车能有效追踪理想模型,保证了半挂汽车列车的稳定性,使驾驶员能够对车辆进行正常地操纵。The optimal controller of direct yaw-moment control of tractor-semitrailer was designed, and its effective- ness was verified. The Gim tire model was adopted to set up the nonlinear dynamic model of tractor-semitrailer. Choosing slip angle of tractor, yaw velocity of tractor and semitrailer, and angle of central line of tractor and semi- trailer as control variables, the optimal control scheme was proposed. An optimal controller of direct yaw-moment control for the tractor-semitrailer stability was developed based on model tracing control technique. Based on the es- tablished nonlinear dynamics model, simulation in Matlab/Simulink software environment is described. The simula- tion consults suggest that for tractor-semitrailer with optimal controller of DYC, the handling and stability perform- ance on big slip angle can be improved, which makes the driver drive the vehicle normally.

关 键 词：直接横摆力矩 操纵稳定性 最优控制 Gim轮胎模型 

分 类 号：U461.6[机械工程—车辆工程]