基于线性变参数实时简化模型的重型半挂车稳定性控制策略  

Stability Control Strategy for Articulated Heavy Vehicles Based on Linear Simplified Model with Real-time Parameters

作　　者：聂枝根[1] 王万琼 宗长富[2] 王超[1] 

机构地区：[1]昆明理工大学交通工程学院,云南昆明650500 [2]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022

出　　处：《中国公路学报》2018年第1期128-136,共9页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(51705225);昆明理工大学引进人才科研启动基金项目(KKSY201602009)

摘　　要：为实现重型半挂车各工况稳定性精准最优控制,提出了基于线性变参数实时简化模型的重型半挂车稳定性控制策略。该控制策略基于制动系统,采用分层控制方式,运用线性二次型调节器(LQR)方法,选择多个车辆状态为反馈状态,以实现重型半挂车横摆、折叠和侧倾稳定性综合控制;应用遗传粒子群算法,设计综合提高横摆、折叠和侧倾稳定性的优化目标函数,优化控制策略权重系数,以实现重型半挂车各工况稳定性最优控制;最后搭建硬件在环试验台并进行了台架试验。结果表明:采用所提出的控制策略后,牵引车质心侧偏角、牵引车横摆角速度、挂车质心侧偏角和挂车横摆角速度最大值分别改善了38.6%、13.8%、15.8%、8.4%,铰接角最大值改善了5.1%,牵引车侧向加速度、牵引车侧倾角、挂车侧向加速度、挂车侧倾角最大值分别改善了10.4%、15.4%、10.8%、17.7%,表明所设计的控制策略综合提高了重型半挂车普通工况的横摆、折叠和侧倾稳定性,并且实现了极限工况侧翻精准控制,从而避免重型半挂车侧翻。In order to precisely and optimally control the articulated heavy vehicles under the various conditions,the stability control strategy based on the linear simplified model with realtime parameters was presented.The brake system,the layered control method and linear quadratic regulator（LQR）algorithm were adopted in the strategy to achieve the comprehensive control combined with the yaw,jackknife stability and roll stability.Meanwhile,various vehicle states were chosen as feedback states.On account of the genetic particle swarm optimization algorithm,the weight coefficients of strategy were obtained by the optimization algorithm using the comprehensive indexes of yaw,jackknife and roll stability to realize the optimal control of articulated heavy vehicles stability under the various conditions. The HIL test bench ofarticulated heavy vehicles was constructed,whilst the test verification was operated.The results show that,after adopting the proposed control strategy,the maximum improvement rates of the slip angle of the tractor,the yaw velocity of the tractor,the slip angle of the trailer and the yaw velocity of the trailer are 38.6%,13.8%,15.8%,8.4%,respectively. The maximum improvement rate of the hitch angle is 5.1%.The maximum improvement rates of the lateral acceleration of the tractor,the roll angle of the tractor,the lateral acceleration of the trailer and the roll angle of the trailer are 10.4%,15.4%,10.8%,17.7%,respectively.The stability of the yaw,jackknife and roll are synthetically improved under the normal working condition.Articulated heavy vehicles is controlled accurately to avoid vehicle rollover under the ultimate working condition.

关 键 词：汽车工程 重型半挂车 实时简化模型 车辆动态控制 参数优化 

分 类 号：U469.5[机械工程—车辆工程]