重型半挂汽车列车防侧翻分层递阶控制  

Multilevel hierarchical control of anti-rollover for heavy-duty tractor-semitrailer

作　　者：赵树恩 张雄 唐俊涛 ZHAO Shu’en;ZHANG Xiong;TANG Juntao(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China;Chongqing Tsingshan Industrial Co.,Ltd.,Chongqing 402761,China;School of Mechanical and Vehicular Engineering,East China Jiaotong University,Nanchang 330012,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,中国重庆400074 [2]重庆青山工业有限责任公司,中国重庆402761 [3]华东交通大学机电与车辆工程学院,中国南昌330013

出　　处：《汽车安全与节能学报》2019年第4期474-482,共9页Journal of Automotive Safety and Energy

基　　金：国家重点研发计划项目(2016YFB0100905);重庆市自然科学基金项目(cstc2018jcyjA2536)

摘　　要：为提高重型半挂汽车列车在极限工况下的防侧翻稳定性,建立了侧向、横摆、侧倾运动的牵引车和挂车5自由度动力学模型。运用模型预测控制方法,决定目标控制横摆力矩。以车辆实时横摆角速度和轮胎载荷转移率为决策依据,对主动转向和直接横摆力矩控制两子系统,进行协调控制。用TruckSim/Simulink平台,进行联合仿真分析。结果表明:在相同工况下,牵引车、挂车的侧向加速度最大值分别改善了7.76%、12.29%;横摆角速度最大绝对值分别改善了23.88%、3.39%;重型半挂半挂汽车列车的最大铰接角减小了19.87%。因而,相对于传统方法,该防侧翻分层递阶控制,提高了重型半挂汽车列车的防侧翻稳定性。A 5 degree-of-freedom dynamic model was established for tractor and trailer lateral with yaw and roll motion for the rollover stability of heavy-duty semi-trailer trains under extreme conditions.A model predictive control method was used to obtain the yaw moments of tractor and trailer with an anti-rollover target controls.Two subsystems of active steering and direct yaw moment control were coordinated and controlled according to the vehicle real-time yaw rate and the tire load transfer rate.The joint simulation analysis was done by using TruckSim/Simulink pair for a layered hierarchical control strategy of semi-trailer.The results show that the maximum lateral accelerations are improved with the rates of 7.76% and 12.29%for the tractors and the trailers respectively under same conditions,the maximum absolutes of yaw angula-rate are improved with the rates of 23.88% and 3.39% respectively,and the maximum articulation angle of the car train is reduced by 19.87%.Therefore,the layered hierarchical control improves the anti-rollover stability of the vehicles due to active steering and direct yaw moment control compared with the traditional heavy-duty semi-trailer train.

关 键 词：重型半挂汽车列车 防侧翻 分层递阶控制 主动前轮转向 直接横摆力矩控制 

分 类 号：U466.33[机械工程—车辆工程]