三轴重载货车AFS与DYC集成控制研究  

Research on Integrated Control of AFS and DYC for Three Axle Heavy Haul Freight Car

作　　者：苏傲 李韶华[1,2] 王桂洋 SU Ao;LI Shao-hua;WANG Gui-yang(State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,Shijiazhuang Tiedao University,Hebei Shijiazhuang 050043,China;School of Mechanical Engineering,Shijiazhuang Tiedao University,Hebei Shijiazhuang 050043,China)

机构地区：[1]石家庄铁道大学省部共建交通工程结构力学行为与系统安全国家重点实验室,河北石家庄050043 [2]石家庄铁道大学机械工程学院,河北石家庄050043

出　　处：《机械设计与制造》2023年第9期73-78,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(11972238);石家庄铁道大学研究生创新资助项目(YC2020039)。

摘　　要：针对三轴重载货车的工作环境恶劣、工况复杂以及车辆结构的原因,容易发生横向失稳等问题。提出基于自适应MPC模型预测控制理论建立了前轮主动转向(AFS)与直接横摆力矩控制(DYC)集成控制策略。该策略采用分层控制结构,在二自由度线性变参数时变(LPV)车辆模型基础上设计了LPV/MPC上层控制器,基于垂直载荷的轮胎力分配设计了下层横摆力矩分配的控制器,利用Simulink-Trucksim进行联合仿真验证。研究表明:在匀速的双移线工况下,基于自适应MPC的集成控制方法比MPC模型预测控制方法的横摆角速度,质心侧偏角以及侧向加速度等均方面降低了3%~5%左右,保证了三轴重载汽车的行驶稳定性;在变速的工况下,MPC模型预测控制方法不能适应车辆速度的变化,控制效果微弱。而提出的自适应MPC模型预测控制方法不仅在车速方面具有很好的鲁棒性,并且提高了车辆的操纵稳定性。In view of the harsh working environment,complex working conditions and vehicle structure of three axle heavy haul truck,lateral instability is easy to occur.Based on adaptive MPC model predictive control theory,the integrated control strategy of front wheel active steering(AFS)and direct yaw moment control(DYC)is established.The strategy adopts hierarchical control structure.The LPV/MPC upper controller is designed on the basis of the two degree of freedom linear variable parameter time-vary⁃ing(LPV)vehicle model,and the lower yaw moment distribution controller is designed based on the tire force distribution of verti⁃cal load.The simulation results are verified by Simulink Trucksim.The results show that:under the condition of constant speed and double lane change,the yaw rate,sideslip angle and lateral acceleration of the MPC based integrated control method are re⁃duced by(3~5)%compared with MPC model predictive control method,which ensures the driving stability of three axle heavy-duty vehicle;under the condition of variable speed,MPC model predictive control method can not adapt to the change of vehicle speed the effect is weak.The proposed adaptive MPC model predictive control method not only has good robustness in terms of vehi⁃cle speed,but also improves the vehicle handling stability.

关 键 词：主动前轮转向 直接横摆力矩控制 集成控制 自适应MPC 

分 类 号：TH16[机械工程—机械制造及自动化]