基于TruckSim与Simulink联合仿真的半挂汽车列车横向稳定性控制  

Semi-trailer lateral stability control based on TruckSim and Simulink co-simulation

作　　者：杨炜[1] 马浩越 郭祥靖 YANG Wei;MA Haoyue;GUO Xiangjing(School of Automobile,Chang’an University,Xi’an 710064,China)

机构地区：[1]长安大学汽车学院,西安710064

出　　处：《中国科技论文》2018年第4期390-398,共9页China Sciencepaper

基　　金：国家自然科学基金资助项目(51278062);陕西省自然科学基础研究计划资助项目(2017JQ6045);中央高校基本科研业务费专项资金资助项目(310822161013)

摘　　要：为提高低附着路面状态下半挂汽车列车的横向稳定性,建立了TruckSim非线性半挂汽车列车整车模型及MATLAB/Simulink线性四自由度六轴半挂汽车列车参考模型。提出了一种上层控制器,采用模糊PID分别单独控制牵引车和半挂车的横摆角速度偏差,决策出各自的附加横摆力矩;下层控制器根据目标制动车轮规则及制动力矩优化分配规则,输出每个车轮所需的制动力矩,并设计基于最优滑移率的滑模变结构控制,最后在低附着系数路面的条件下,分别选取双移线、鱼钩、方向盘角阶跃输入三个工况进行联合仿真分析。仿真结果表明,本文所提出的控制策略有效地提高了半挂汽车列车在低附着系数路面的横向稳定性,避免了侧滑、折叠等失稳现象的出现。To improve the lateral stability of semi-trailer in low adhesion road surface condition,the TruckSim nonlinear semi-trailer model and MATLAB/Simulink linear four degrees of freedom/six axle semi-trailer reference model are established.And an upper controller using fuzzy PID to separately control the yaw velocity deviation of the tractor and the semi-trailer is proposed,which can determine their additional yawing moment.The lower controller is utilized to output the braking torque of each wheel based on the target braking wheel rules and the braking torque optimization allocation rules,and design sliding mode variable structure control according to the optimal slip ratio.Finally,under the condition of low adhesion coefficient road surface,the co-simulation is conducted by respectively selecting the three cases such as the double lane change,the hook,and the steering wheel angle step-input.The simulation results show that the proposed control strategy is effective to improve the lateral stability of the semi-trailer under low adhesion coefficient road surface condition,avoiding the occurrence of the unstable phenomena such as sideslip and folding.

关 键 词：车辆工程 半挂汽车列车 联合仿真 模糊PID 低附着路面 横向稳定性 

分 类 号：U461.6[机械工程—车辆工程]