半挂汽车列车AFS/DYC集成控制策略设计及验证  

Design and verification of integrated control strategy for tractor-semitrailer AFS/DYC

作　　者：马玉喆 张祖锋[2] 牛宗元 丁能根[1] MA Yuzhe;ZHANG Zufeng;NIU Zongyuan;DING Nenggen(School of Transportation Science and Engineering,Beihang University,Beijing 100191,China;Air Force Early Warning Academy,Wuhan,Hubei 430345,China)

机构地区：[1]北京航空航天大学交通科学与工程学院,北京100191 [2]空军预警学院,湖北武汉430345

出　　处：《江苏大学学报（自然科学版）》2018年第5期530-536,562,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51175015)

摘　　要：以追踪牵引车横摆角速度和折腰角为目标,在3自由度单轨车辆模型基础上设计了主动前轮转向/直接横摆力矩控制(AFS/DYC)的集成控制策略.基于Truck Sim与Simulink搭建车辆闭环仿真模型,进行了双移线工况和鱼钩转向工况仿真试验.仿真结果表明:附着系数为0.85、车速为105 km·h^(-1)的双移线换道操作时,在施加了集成控制的闭环系统下,车辆能够较好地跟踪参考响应,避免开环系统下的摆振现象,路径跟踪得到提升;附着系数为0.30、车速为55 km·h^(-1)的鱼钩转向时,闭环系统在该工况下运行良好,车辆顺利进入鱼钩转向,避免了在开环系统下的侧滑与折叠;所设计的AFS/DYC控制策略有效,可以改善整车的横摆稳定性.With tracking yaw rate and bow angle of tractor as targets,the integrated control strategy of active front steering/direct yaw-moment control(AFS/DYC)for vehicle was designed based on the linear monorail vehicle model with three degrees of freedom.The closed-loop simulation model of vehicle was established based on TruckSim and Simulink softwares.The double lane change and hook steering simulations were carried out.The simulation results show that under the double lane change conditions with adhesion coefficient of 0.85 and speed of 105 km·h-1,the vehicle can well track the reference response,and the phenomenon of vibration in open-loop system is weakened with improved path tracking.In hooking steering simulation,when the adhesion coefficient is 0.30 with speed of 55 km·h-1,the closed-loop system runs well,and vehicle can enter hook steering without sideslipping and folding.The designed AFS/DYC control strategy is effective and can improve the vehicle yaw stability.

关 键 词：半挂汽车列车 集成控制 前轮主动转向 直接横摆力矩控制 模糊控制 横摆稳定性 

分 类 号：U461.6[机械工程—车辆工程]