基于模型预测的客车侧翻控制方法  

Rollover Control Method of Bus Based on Model Prediction

作　　者：康小鹏 董浩 王辉 陈双喜 KANG Xiao-peng;DONG Hao;WANG Hui;CHEN Shuang-xi(School of Mechanical Engineering,Chengdu University,Chengdu Sichuan 610106,China)

机构地区：[1]成都大学机械工程学院,四川成都610106

出　　处：《计算机仿真》2023年第3期157-161,共5页Computer Simulation

基　　金：国家自然科学基金项目(11802041)。

摘　　要：为提高客车侧翻稳定性,解决单独差动制动控制效果不稳定的问题,提出了一种基于模型预测控制的主动转向/差动制动联合控制方法。针对计算侧翻指标LTR难度较大的问题,建立了无迹卡尔曼滤波(Unscented Kalman Filter, UKF)状态参数估计器对LTR值进行估计。基于模糊控制理论设计了主动转向、差动制动下层控制器。通过TruckSim/Simulink联合仿真平台对客车在鱼钩试验和阶跃试验典型工况下进行了仿真分析,结果表明,设计的MPC控制器相比单独差动制动控制具有更好的控制效果和控制稳定性。In order to improve bus rollover stability and solve the problem of unstable control effect of single differential braking,a combined control method of active steering/differential braking based on model predictive control is proposed.In view of the difficulty in calculating the rollover index LTR,the unscented Kalman filter(UKF)state parameter estimator was established to estimate the LTR value.The lower controller of active steering and differential braking was designed based on fuzzy control theory.Through TruckSim/Simulink co-simulation plaform,the simulation analysis of the bus under the typical working conditions of fishhook test and step test was carried out.The results show that the designed MPC controller has better control effect and control stability than the single differential braking control.

关 键 词：模型预测 侧翻控制 状态估计 

分 类 号：U461.6[机械工程—车辆工程]