基于BWO算法的重型自卸车绊倒防侧翻PID控制  

PID Control for Tripping and Rollover Prevention of Heavy-duty Dump Trucks Based on BWO Algorithm

作　　者：王禹 宫爱红[1] 刘诗颖 胡明茂[1] 付众诚 朱天民 Wang Yu;Gong Aihong;Liu Shiying;Hu Mingmao;Fu Zhongcheng;Zhu Tianmin(Hubei University of Automotive Technology,Shiyan 442002,China;Hubei Tri-Ring Automobile Co.Ltd,Wuhan 430000,China)

机构地区：[1]湖北汽车工业学院,湖北十堰442002 [2]湖北三环汽车有限公司,湖北武汉430000

出　　处：《湖北汽车工业学院学报》2024年第4期10-16,共7页Journal of Hubei University Of Automotive Technology

基　　金：国家自然科学基金(52375508);湖北省教育厅科学技术研究计划项目(D20211803);汽车动力传动与电子控制湖北省重点实验室开放基金(ZDK11202205)。

摘　　要：为解决重型自卸车转向时绊倒易侧翻的问题,考虑非簧载质量对车辆的侧倾影响,建立车辆四自由度动力学模型,设计了一种基于PID差动制动控制的车辆绊倒防侧翻系统。以车身侧倾角误差作为输入,PID控制器输出附加横摆力矩,通过差动制动控制输入制动力矩到TruckSim模型,采用白鲸算法对PID参数进行整定,联合MATLAB/Simulink与TruckSim,在鱼钩/双移线与路面激励复合工况下进行仿真,结果表明:PID差动制动控制可有效防止车辆发生绊倒侧翻,且白鲸算法优化后的PID差动制动控制稳定性更好。In order to solve the problem of tripping and rollover of heavy-duty dump trucks during turn-ing,a four-degree-of-freedom dynamic model of the vehicle was established by considering the influ-ence of unsprung mass on vehicle rollover.A vehicle tripping and rollover prevention system based on proportional-integral-derivative(PID)differential braking control was designed.The roll angle error of the vehicle body was used as input,and the additional yaw moment was output by the PID controller.The braking moment was input to the TruckSim model through differential braking control.The beluga whale optimization algorithm was used to tune the PID parameters,and a simulation was conducted by MATLAB/Simulink and TruckSim in the joint simulation environment of fishhook/double lane steering and road excitation conditions.The experimental results show that the PID differential braking control can effectively prevent vehicle tripping and rollover,and the stability of the PID differential braking control optimized by the beluga whale optimization algorithm is better.

关 键 词：绊倒防侧翻 PID控制 差动制动 算法优化 联合仿真 

分 类 号：U469.4[机械工程—车辆工程]