某全挂车主动转向控制策略设计  

Design of Active Steering Control Strategy for Full Trailer

作　　者：陈小兵[1] 邱天宇 Chen Xiaobing;Qiu Tianyu(Hubei Key Laboratory of Automotive Power Train and Electronic Control,Hubei University of Automotive Technology,Shiyan 442002,China)

机构地区：[1]湖北汽车工业学院汽车动力传动与电子控制湖北省重点实验室,湖北十堰442002

出　　处：《湖北汽车工业学院学报》2023年第3期12-16,21,共6页Journal of Hubei University Of Automotive Technology

基　　金：湖北省教育厅科研计划项目(Q20171803);湖北省产业技术研究院前资助项目(2021BED004)。

摘　　要：为提高全挂车列车低速行驶的机动性和高速行驶的横向稳定性,提出了挂车主动转向最优控制方法。在建立全挂车线性四自由度动力学参考模型和单点预瞄自适应驾驶员模型的基础上,设计了挂车主动转向线性二次型最优控制算法,利用TruckSim/Simulink搭建了“车辆-驾驶员-挂车主动转向控制器”闭环动力学仿真平台,对不同行驶工况下的控制性能进行了对比分析。结果表明:全挂车主动转向最优控制方法可明显减小全挂车低速行驶的横向偏移距,并降低高速行驶的横摆角速度与侧向加速度向后放大率,提高挂车列车主动安全性。In order to improve the maneuverability and lateral stability of a full trailer at low and high speeds,respectively,an optimal active steering control method for the full trailer was proposed in this paper.Firstly,a linear four degrees of freedom(4-DOFs)dynamics reference model for the full trailer was built,and an adaptive driver model with a single-point preview was established.On this basis,a linear quadratic optimal control algorithm for the active steering of the full trailer was designed.In addition,a closed-loop dynamics simulation platform with a structure of“vehicle-driver-active steering controller of the full trailer”was built based on TruckSim/Simulink,and the control performances under different driving conditions were compared and analyzed.The results show that the optimal active steering control method for the full trailer can effectively reduce lateral offsets of the full trailer at low speed,lower rearward amplification of yaw rate and lateral acceleration at high speed,and improve the active safety of the full trailer.

关 键 词：全挂车 主动转向 最优控制 横向偏移距 向后放大率 

分 类 号：U463.4[机械工程—车辆工程] U469.5[交通运输工程—载运工具运用工程]