欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

JASE ›› 2019, Vol. 10 ›› Issue (4): 474-482.DOI: 10.3969/j.issn.1674-8484.2019.04.009

• 汽车安全 • 上一篇    下一篇

重型半挂汽车列车防侧翻分层递阶控制

赵树恩1，张雄2，唐俊涛3   

  1. （1. 重庆交通大学 机电与车辆工程学院，重庆  400074，中国； 
    2. 重庆青山工业有限责任公司，重庆  402761，中国； 
    3. 华东交通大学 机电与车辆工程学院，南昌  330013，中国）
  • 收稿日期:2019-04-26 出版日期:2019-12-31 发布日期:2020-01-01
  • 作者简介:第一作者 / First author ： 赵树恩（ 1972 －），男（汉），陕西，教授。E-mail: zse0916@163.com。 第二作者 / Second author ： 张雄 (1992 －），男（汉），四川，助理工程师。E-mail: 627825984@qq.com。
  • 基金资助:
    国家重点研发计划项目 (2016YFB0100905) ；重庆市自然科学基金项目(cstc2018jcyjA2536)。

Multilevel hierarchical control of anti-rollover for heavy-duty tractor-semitrailer

ZHAO Shu’en1，ZHANG Xiong1，TANG Juntao2   

  1. (1. School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China; 
    2. Chongqing Tsingshan Industrial Co., Ltd., Chongqing 402761, China; 
    3. School of Mechanical and Vehicular Engineering, East China Jiaotong University, Nanchang 330012, China)
  • Received:2019-04-26 Online:2019-12-31 Published:2020-01-01

PDF

248

摘要： 为提高重型半挂汽车列车在极限工况下的防侧翻稳定性，建立了侧向、横摆、侧倾运动的牵 引车和挂车 5自由度动力学模型。运用模型预测控制方法，决定目标控制横摆力矩。以车辆实时横摆 角速度和轮胎载荷转移率为决策依据，对主动转向和直接横摆力矩控制两子系统，进行协调控制。用 TruckSim/Simulink平台，进行联合仿真分析。结果表明：在相同工况下，牵引车、挂车的侧向加速 度最大值分别改善了 7.76%、12.29% ；横摆角速度最大绝对值分别改善了 23.88%、3.39% ；重型半 挂半挂汽车列车的最大铰接角减小了19.87%。因而，相对于传统方法，该防侧翻分层递阶控制，提 高了重型半挂汽车列车的防侧翻稳定性。

关键词: 重型半挂汽车列车, 防侧翻, 分层递阶控制, 主动前轮转向, 直接横摆力矩控制

Abstract:  A 5 degree-of-freedom dynamic model was established for tractor and trailer lateral with yaw and roll motion for the rollover stability of heavy-duty semi-trailer trains under extreme conditions. A model predictive control method was used to obtain the yaw moments of tractor and trailer with an anti-rollover target controls. Two subsystems of active steering and direct yaw moment control were coordinated and controlled according to the vehicle real-time yaw rate and the tire load transfer rate. The joint simulation analysis was done by using TruckSim/Simulink pair for a layered hierarchical control strategy of semi-trailer. The results show that the maximum lateral accelerations are improved with the rates of 7.76% and 12.29% for the tractors and the trailers respectively under same conditions, the maximum absolutes of yaw angula-rate are improved with the rates of 23.88% and 3.39% respectively, and the maximum articulation angle of the car train is reduced by 19.87%. Therefore, the layered hierarchical control improves the anti-rollover stability of the vehicles due to active steering and direct yaw moment control compared with the traditional heavy-duty semi-trailer train.

Key words: automotive engineering, heavy-duty tractor-semitrailer, anti-rollover, multilevel hierarchical control, active front wheel steering, direct yaw moment control