半挂液罐车弯道安全车速优化控制  

Optimization Control of Safety Speed of Liquid Tank Semi-trailer Running on Curved Road

作　　者：姜慧夫 秦箫 周炜[1] JIANG Hui-fu;QIN Xiao;ZHOU Wei(Research Center of Automobile Transportation,Research Institute of Highway,Ministry of Transport,Beijing 100088,China)

机构地区：[1]交通运输部公路科学研究院汽车运输研究中心,北京100088

出　　处：《科学技术与工程》2024年第14期6063-6071,共9页Science Technology and Engineering

基　　金：交通运输部公路科学研究所-中央级公益性科研院所基本科研业务费专项资金项目(2022-9025)。

摘　　要：为降低半挂液罐车驶过弯道路段过程中的侧翻事故风险,提出了基于最优控制的半挂液罐车弯道安全车速优化控制方法。该控制方法以侧翻事故防控为优先目标,以高效通行为辅助目标,帮助半挂液罐车在驶向弯道时提前获得无横向失稳隐患的最优车速控制方案,实现“预防式”的车辆主动安全控制。同时为提高控制方案有效性,利用正弦波动方程拟合罐内液体纵向转移过程,结合基于改进准静态法的罐内液体横向偏移规律,构建了具有纵横双维度描述能力的罐内液体晃动模型,提高了最优控制问题成本函数中半挂液罐车横向稳态表征指标的准确性。仿真结果表明:受控半挂液罐车驶过弯道过程中的瞬时横向载荷转移率始终处于[-0.7,0.7]的安全范围内;不同弯道半径下车辆瞬时横向载荷转移率均有下降,且在弯道半径61 m时降幅最大;受控半挂液罐车最大瞬时横向载荷转移率最大降幅达到0.07;车速控制对道路通行效率的负面影响较小。该控制方法帮助半挂液罐车避免侧翻事故,适用于多种不同半径的弯道路段。In order to reduce the risk of rollover accident in the process of liquid tank semi-trailer driving through a curved road section,a control method for the safe speed of liquid tank semi-trailer on curved road was proposed on the basis of optimal control theory.This control method prioritizes the prevention and control of rollover accidents before traffic efficiency,and achieves“preventive”active safety control by providing optimal speed control profiles for liquid tank semi-trailers driving towards curved road,without potential lateral instability hazards.The sine wave equation was used to fit the longitudinal transfer process of liquid in the tank to improve the effectiveness of the control profiles.Then a tank liquid sloshing model was built to describe the liquid motion on both vertical and horizontal dimensions.This model utilizes the lateral displacement law of liquid in the tank based on the improved quasi-static method,which can improve the accuracy of the lateral steady state characterization index of liquid tank semi-trailer in the cost function of the optimal control problem.The simulation results show as follows.The instantaneous lateral load transfer rates of the controlled liquid tank semi-trailers during driving through curved roads are within the safe range of[-0.7,0.7].The decreasing of instantaneous lateral load transfer rate of vehicles could be observed under different curve radii,and the maximum decline occurs at curve radius of 61 meters.The maximum instantaneous lateral load transfer rate of the controlled vehicle has a maximum reduction of 0.07.The control profiles have less negative impact on traffic efficiency.It is concluded that this optimization control method of safety vehicle speed helps liquid tank semi-trailers avoid rollover accidents,and is suitable for various curved road sections with different radii.

关 键 词：半挂液罐车 弯道路段 液体晃动 侧翻事故防控 最优控制 

分 类 号：U492.84[交通运输工程—交通运输规划与管理]