重型自卸车防侧翻模型预测控制研究  

Research on Model Predictive Control of Heavy Dump Truck Against Rollover

作　　者：廖子文 宫爱红[1] 胡明茂[1] LIAO Ziwen;GONG Aihong;HU Mingmao(College of Mechanical Engineering,Hubei University of Automotive Technology,Shiyan 442002,Hubei,China)

机构地区：[1]湖北汽车工业学院机械工程学院,湖北十堰442002

出　　处：《机械科学与技术》2022年第7期1121-1127,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51675388);中国博士后科学基金第58批面上项目(2015M581301);汽车动力传动与电子控制湖北省重点实验室(湖北汽车工业学院)基金项目(ZDK1201802)。

摘　　要：针对重型自卸车在极限工况下的侧翻稳定性问题,提出一种基于模型预测控制(MPC)的差动制动控制算法。根据重型自卸车参考模型建立控制矩阵,以质心侧偏角、横摆角速度、侧倾角为决策依据,以横向载荷转移率作为侧翻评价指标,通过差动制动的方式为车辆提供附加稳定力矩从而达到提高汽车行驶稳定性的目的。采用MATLAB/Simulink与TruckSim联合仿真,在两种典型侧翻工况下进行仿真试验。结果表明,所设计的基于模型预测控制的防侧翻控制系统能有效地抑制汽车侧翻,保障行驶安全,提高了重型自卸车的侧翻稳定性。Aiming at the rolling stability of heavy dump truck in extreme conditions,a differential braking control algorithm was proposed based on model predictive control(MPC).The control matrix was established according to the reference model of the heavy-duty dump truck.The decision is based on the center of mass slip angle,the yaw velocity and the roll angle.And the lateral load transfer rate is taken as the rollover evaluation index.The additional stabilizing torque is provided for the vehicle through differential braking,thereby improving the driving stability of the vehicle.After that,the joint simulation of MATLAB/Simulink and Trucksim was used to conduct simulation tests under two typical rollover working conditions.The simulation results show that the anti-rollover control system based on model predictive control can effectively inhibit the rollover of vehicles,ensure driving safety,and improve the rolling stability of heavy dump trucks.

关 键 词：模型预测控制 差动制动 重型自卸车 稳定性 

分 类 号：U469.4[机械工程—车辆工程]