半挂汽车列车路径跟随模糊控制联合仿真  

Research on Path Following Control of Tractor-semitrailer

作　　者：代馥光 程凯[1] 于志新[1] 李杰 DAI Fu-guang

机构地区：[1]长春工业大学机电工程学院,吉林长春130012

出　　处：《专用汽车》2018年第4期87-90,共4页Special Purpose Vehicle

摘　　要：应用Truck Sim建立了半挂汽车列车非线性整车模型,并建立了简化的四自由度线性参考模型,以牵引车和半挂车的路径偏差和偏差变化率为控制变量设计了模糊控制器,并设计了差动制动控制器对车轮施加制动力矩,然后利用MATLAB/Simulink和Truck Sim软件进行了联合仿真。结果表明,所提出的方法提高了半挂车对牵引车的跟随能力,可以有效地避免甩尾、折叠等危险事故的发生。A nonlinear tractor-sem itrailer model was established based on TruckSim,then asim plified 4-DOF linear reference model was established.The p ath following fuzzy controller was designed based on the deviation and its variable ratio of the path.A differential braking controller was designed to apply braking torque to the wheel.Next,the co-sim ulation study was proceed by using MATLA B/Sim ulink and TruckSim.The results show that the control method can improve the ability of the sem itrailer following the tractor,moreover effectively avoid occurrence of dangerous accident such as shimmy,rollover and fold,etc.

关 键 词：半挂汽车列车 模糊控制 差动制动 TruckSim 

分 类 号：U469.53[机械工程—车辆工程]