基于T-S模型的载货车辆动态参数滑模控制  

Dynamic parameter sliding mode control of truck based on a T-S model

作　　者：孙船斌 方琳 童宝宏[1,2,3] 郑近德 SUN Chuanbin;FANG Lin;TONG Baohong;ZHENG Jinde(School of Mechanical Engineering,Anhui University of Technology,Ma’anshan 243032,China;Institute of Green and Intelligent vehicles,Ma’anshan 243032,China;AnHui Province Key Laboratory of Special Heavy Load Robot,Ma’anshan 243032,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032 [2]低碳与智能车辆研究所,安徽马鞍山2430323 [3]特种重载机器人安徽省重点实验室,安徽马鞍山243032

出　　处：《振动与冲击》2021年第12期254-264,共11页Journal of Vibration and Shock

基　　金：国家自然科学基金(51505002)。

摘　　要：为改善载货车辆极限状态的操纵稳定性和侧翻稳定性,在非线性工作域内进行主动横摆和侧倾力矩的改进型滑模控制,实现载货车辆横摆-侧倾运动的联合控制。利用扇形域建立非线性悬架和轮胎的T-S模型,结合模糊观测器获取悬架和轮胎动态模型参数。基于T-S方法的横摆-侧倾联合控制模型,考虑横向载荷偏移对期望横摆角速度的影响,建立横摆状态和侧倾状态滑模面,设计了改进型滑模方法的动态滑模参数,并对控制系统进行Lyapunov稳定性分析。在Trucksim中采用Sine with Dwell转向输入进行验证,结果表明:结合模糊观测器的T-S方法能够准确模拟模型参数的非线性变化,动态滑模参数具有不同路面摩擦状态的自适应性,结合T-S模型的动态参数滑模方法能显著提高载货车辆极限状态下的稳定性,控制性能优于传统滑模方法。To enhance the handling stability and rollover stability of a truck under extreme conditions,a novel sliding mode control of active yaw and roll torque was carried out in nonlinear working domain,constructing integrated control of yaw-roll motion of the truck.A T-S model of nonlinear suspension and tire was established in sector domain,and dynamic model parameters of the suspension and the tire were obtained by a fuzzy observer.Based on the T-S integrated control model of yaw-roll motion,sliding mode surfaces of yaw and roll motion state were constituted considering lateral load offset influence on desired yaw velocity,then non-steady parameter of the novel yaw sliding mode was designed,and Lyapunov stability of the control system was analyzed.Sine with dwell steering input was used to verify in Trucksim.The results show that,the nonlinear variation of model parameters is accurately performed on the T-S method combined with the fuzzy observer,self-adaptability of dynamic sliding mode parameter is presented under different road friction states,the stability of Truck under extreme conditions is significantly improved using dynamic parameter sliding mode with T-S model,and the control performance is better than traditional sliding mode method.

关 键 词：载货车辆 非线性系统 联合控制 T-S模型 动态滑模参数 

分 类 号：U461.6[机械工程—车辆工程]