电驱铰接车横摆贝叶斯滤波模糊控制及状态估计  

Fuzzy Yaw Control and State Estimation of Electric Drive Articulated Vehicle Based on Bayesian Filtering

作　　者：户燕会 任燕[2] 户东亮[3] 姜奎 HU Yanhui;REN Yan;HU Dongliang;JIANG Kui(Sino-German School of Engineering,Tongji University,Shanghai 201804;School of Mechanical Engineering,Henan Polytechnic Institute,Henan Nanyang 473000,China;SDIC Nanyang Thermal Power Co.,Ltd.,Henan Nanyang 473000,China;Nanyang Changbow Machinery Technology Co.,Ltd.,Henan Nanyang 473000,China)

机构地区：[1]同济大学中德工程学院,上海201804 [2]河南工业职业技术学院机械工程学院,河南南阳473000 [3]国电投南阳热电有限责任公司,河南南阳473000 [4]南阳长弓机械科技有限公司,河南南阳473000

出　　处：《机械设计与制造》2025年第4期32-35,共4页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目(21B46002)。

摘　　要：对铰接车控制性能进行研究,先构建得到包含线性三自由度的仿真模型,根据贝叶斯滤波理论评估前车厢横摆角速度、质心侧偏角、铰接角。按照分层控制的方式,对三自由度模型的车辆响应进行分析,选择滑模控制方法依次计算得到前后车厢横摆力矩。利用ASM仿真平台验证了不同工况下的控制策略。研究结果表明:相对于没有控制情况,经过控制形成了更大的横摆角速度,铰接角发生了降低,获得了更小转弯半径,显著提升了操控性,可以更加高效稳定的完成转弯过程。比采用有效集分配策略轮胎附着利用率降低接近31%,使各驱动轮都跟地面形成了良好附着状态,获得更优控制性能。为上层设置模糊等效切换滑模控制方法后,可使得质心侧偏角处于合理范围内,获得更优横向稳定性。The control performance of an articulated electric bus was studied.First,a linear 3-DOF simulation model was con⁃structed,and then the yaw velocity,sidesaw angle of the center of mass and hinge angle of the front car were evaluated according to Bayesian filtering theory.According to the layered control method,the vehicle response of the 3-DOF model was analyzed,and the sliding mode control method was selected to calculate the yaw moment of the front and rear carriages.The control strate⁃gy under different working conditions is verified by ASM simulation platform.The research results show that,compared with the situation without control,the control results in a larger yaw velocity,a lower hinge Angle,a smaller turning radius,a signifi⁃cantly improved handling ability,and a more efficient and stable turning process.Compared with the effective set allocation strat⁃egy,the tire adhesion utilization rate is reduced by nearly 31%,so that all driving wheels form a good adhesion state with the ground,and obtain better control performance.After setting the fuzzy equivalent switching sliding mode control method for the up⁃per layer,the sideslip angle of the center of mass is in a reasonable range,and the lateral stability is better.

关 键 词：电驱 铰接车 模糊等效滑模控制 横摆稳定性 转矩分配 

分 类 号：TH16[机械工程—机械制造及自动化] U461[机械工程—车辆工程]