半挂汽车列车高速变道横向稳定性控制研究  

Lateral stability control of high-speed lane change of semi-trailer train

作　　者：张楷祥 周庆辉 ZHANG Kaixiang;ZHOU Qinghui(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 102600,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 102600,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京102600 [2]北京市建筑安全监测工程技术研究中心,北京102600

出　　处：《现代制造工程》2022年第4期68-75,共8页Modern Manufacturing Engineering

基　　金：北京建筑大学市属高校基本科研业务费专项资助项目(X20080)。

摘　　要：针对半挂汽车列车在高速变道时因参数不确定性导致的横向失稳、半挂车运动轨迹偏移的问题,提出了基于直接横摆力矩控制(Direct Yaw moment Control,DYC)与主动转向(Active Steering,AS)技术的集成控制策略。以追踪牵引车侧向速度、横摆角速度和铰接角的参考数值为目标,设计了一种横向稳定性控制系统。在MATLAB/SIMULINK软件中搭建横向稳定性控制系统模型,并进行高速变道工况仿真试验。仿真结果表明:在高速变道工况下,施加横向稳定性控制作用后,半挂汽车列车模型能较好地追踪参考模型的响应且在车辆参数发生变化时仍有良好的追踪效果;相较于未施加横向稳定性控制作用的系统和仅施加了单控制作用的系统,双控制作用下半挂车追踪牵引车运动轨迹的能力更优。证明了设计的控制方法有效,可为提高半挂汽车列车横向稳定性和半挂车追踪牵引车运动轨迹能力方面提供一定参考。Aiming at the problems of lateral instability and deviation of semi-trailer motion path caused by parameter uncertainty when semi-trailer train changes lanes at high speed,an integrated control strategy based on Direct Yaw moment Control(DYC) and Active Steering(AS) technology was presented.Aiming at tracking the reference values of the tractor′s lateral speed,yaw rate and articulation angle,a lateral stability control system was designed.Closed loop control system model was built in MATLAB/SIMULINK software,and simulation tests for high-speed lane changing conditions were conducted.Simulation results shows that under high-speed lane changing conditions were conducted,after the control is applied,the semi-trailer train can better track the reference response and has a good tracking effect even when the vehicle parameters change;compared with the system without lateral stability control and single control,the offset of the semi-trailer′s trajectory is significantly reduced.The integrated control method designed is effective.It can provide a certain reference for the improvement of the lateral stability of the semi-trailer train and the ability of the semi-trailer to track the trajectory of the tractor.

关 键 词：半挂汽车列车 自适应控制 直接横摆力矩控制 主动转向技术 模糊控制 

分 类 号：U461.6[机械工程—车辆工程]