三轴自卸车实时速度规划与跟踪控制  

Real-time speed planning and tracking control for three-axis dump truck

作　　者：黄飞 张兰春[1] 卿宏军[2,3] HUANG Fei;ZHANG Lanchun;Qing Hongjun(School of Automotive and Traffic Engineering,Jiangsu University of Technology,Changzhou 213001,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha,410082,China;Institute of Machinery Equipment,Changzhou 213001,China)

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001 [2]湖南大学机械与运载工程学院,湖南长沙410082 [3]常州湖南大学机械装备研究院,江苏常州213161

出　　处：《江苏理工学院学报》2022年第4期55-65,共11页Journal of Jiangsu University of Technology

基　　金：江苏省“333工程”科研资助项目“混合动力双带式全电调节CVT传动控制研究”(BRA2020315)。

摘　　要：针对匀速工况下三轴自卸车在车速较高、道路曲率大时容易出现侧翻的问题,基于模型预测控制,设计了一种三轴自卸车实时速度规划与跟踪控制方法。实时速度规划方法根据当前时刻车辆的横向载荷转移率以及预瞄点处的道路曲率,计算出纵向车速的上限值,规划出一条从起点到终点的速度曲线,并使其满足车辆侧倾稳定性和加速度、速度限制的要求。跟踪控制分为横向和纵向运动控制,其中:横向运动控制器根据车辆当前时刻的状态和参考轨迹计算出前轮转角;纵向运动控制器根据速度规划方法规划出的参考速度和参考加速度,计算出三轴自卸车的驱动力和制动力。通过在Trucksim中搭建整车模型,在Matlab中建立实时速度规划模块和横向、纵向运动控制器,来进行防侧翻性能验证。仿真结果表明,在实时速度规划工况下进行跟踪控制能够有效地防止侧翻发生。To solve the problem that three-axis dump truck is prone to rollover when the speed is high and the road curvature is large uniform speed conditions,a real-time speed planning and tracking control method for three-axis dump truck is designed based on model predictive control.The real-time speed planning method calculates the upper limit of the longitudinal speed according to the lateral load transfer rate of the vehicle at the current time and the road curvature at the preview point,plans a speed curve from the starting point to the end point,and makes it meet the requirements of vehicle roll stability,acceleration and speed limit.The tracking control is divided into lateral and longitudinal motion control.The lateral motion controller calculates the front wheel angle according to the current state of the vehicle and the reference trajectory.The longitudinal motion controller calculates the driving force and braking force of the three-axis dump truck according to the reference speed and reference acceleration planned by using speed planning method.The vehicle model is built in Trucksim,the realtime speed planning module and lateral and longitudinal motion controllers are established in Matlab to verify the anti-rollover performance.The simulation results show that the tracking control under the real-time speed planning condition can effectively suppress the occurrence of rollover.

关 键 词：三轴自卸车 实时速度规划 跟踪控制 侧翻 

分 类 号：U461.6[机械工程—车辆工程]