基于TruckSim-Simulink联合仿真的半挂汽车列车的稳定性控制  

Tractor-semitrailer Stability Control Based on TruckSim-Simulink Co-simulation

作　　者：杨秀建[1] 康南[1] 李西涛[1] 

机构地区：[1]昆明理工大学交通工程学院,云南昆明650500

出　　处：《公路交通科技》2013年第3期141-148,共8页Journal of Highway and Transportation Research and Development

基　　金：国家自然科学基金项目(51005109)

摘　　要：基于TruckSim建立了非线性半挂汽车列车整车仿真模型,以其作为控制方案仿真验证的平台。探讨了牵引车和半挂车独立差动制动控制对整车横摆运动的主动控制问题,控制方案分为顶层横摆力矩控制器和底层制动力分配器2部分,顶层控制器输出改善整车横向稳定性能的附加横摆力矩,底层制动力分配器合理分配各车轮的制动力来实现该附加横摆力矩,整个控制策略在Matlab-Simulink中实现。阐述了TruckSim与Simulink的联合仿真问题,搭建了TruckSim-Simulink联合仿真模型,通过湿滑路面上的单移线试验操作对控制策略进行了联合仿真分析,结果表明,TruckSim-Simulink联合仿真是进行半挂汽车列车稳定性控制策略分析评价的有效手段,所提出的控制方案能够显著改善整车的横摆稳定性和侧倾稳定性。A nonlinear tractor-semitrailer simulation model is established based on TruckSim to validate the proposed control scheme. The yaw dynamics of the whole vehicle stabilized by differential braking the wheels of the tractor and the trailer is discussed. The control system which is designed in Matlab - Simulink is a two- level structure with the upper yaw moment controller outputting an additional yaw moment to improve the lateral stability and the lower braking force control allocator realizing the additional yaw moment by coordinating the wheel brake actions of the tractor and the trailer appropriately. A TruckSim-Simulink co- simulation model is expounded and constructed, and then based on which, the proposed control scheme is co- simulation analysed by a single-lane change maneuver test on a slippery road. The results reveal that it is an effective means to evaluate the tractor-semitrailer stability control strategy by TruckSim-Simulink co-simulation method. The proposed control scheme can significantly improve the vehicle yaw stability and roll stability.

关 键 词：汽车工程 汽车主动安全 联合仿真 半挂汽车列车 汽车动力学 TruckSim 

分 类 号：U461.2[机械工程—车辆工程]