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汽车安全与节能学报

汽车安全与节能学报 ›› 2026, Vol. 17 ›› Issue (1): 40-49.DOI: 10.3969/j.issn.1674-8484.2026.01.004

• 汽车安全 • 上一篇    下一篇

转矩分配的多轴重载车辆主动抗侧翻控制策略

吴钟涛1(), 沈利霖1, 李兵兵1, 殷国栋1, 陈波立2,*()   

  1. 1.东南大学 机械工程学院，南京 210000，中国
    2.伦敦大学学院 电子电气工程学院，伦敦 WC1E 6BT，英国
  • 收稿日期:2025-06-19 修回日期:2025-12-12 出版日期:2026-02-28 发布日期:2026-03-19
  • 通讯作者: 陈波立，教授。 E-mail：boli.chen@ucl.ac.uk。
  • 作者简介:吴钟涛（2001—），男（汉），安徽，硕士。E-mail：13866060071@163.com。
  • 基金资助:
    智能绿色车辆与交通全国重点实验室开放基金课题(KFZ2405);国家自然科学基金(52502499)

Active anti-rollover control strategy for multi-axle heavy-duty vehicles based on torque distribution

WU Zhongtao1(), SHEN Lilin1, LI Bingbing1, YIN Guodong1, CHEN Boli2,*()   

  1. 1. School of Mechanical Engineering, Southeast University, Nanjing 210000, China
    2. Department of Electronic & Electrical Engineering, University College London, London WC1E 6BT, England
  • Received:2025-06-19 Revised:2025-12-12 Online:2026-02-28 Published:2026-03-19

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摘要：

为提升多轴重载车辆在高速极限侧翻工况下的主动抗侧翻性能，以分布式电驱动多轴重载车辆为对象，开发了一种基于转矩分配的多轴重载车辆主动抗侧翻控制方法。该方法以横向载荷转移率为侧倾判据，采用提出的抗抖振模糊-滑模控制算法获得控制所需的期望附加横摆力矩，通过合理分配全轮驱动扭矩产生差动横摆力矩以保证车辆的侧倾稳定, 并通过驾驶员在环仿真实验验证了所提出方法的有效性。结果表明：在驾驶员手动操作的极限工况下，所提出控制方法能成功避免车辆发生侧翻，车辆横向载荷转移率最大绝对值降低约2%，车身侧倾角最大值降低约4.9%，横向载荷转移率超侧倾阈值时长降低42.2%。

关键词: 车辆动力学, 车辆控制系统, 多轴重载车辆, 主动抗侧翻控制, 分布式电驱动

Abstract:

A multi-axle heavy-duty vehicle active anti rollover control system based on torque distribution was developed to improve the active anti rollover performance of multi-axle heavy-duty vehicles under high-speed extreme rollover conditions, taking the distributed electric drive multi axle heavy-duty vehicle as the object. The lateral load transfer rate was used as the roll criterion, and an Anti-Chattering Fuzzy Sliding Mode Control algorithm was proposed to obtain the desired additional yaw moment, and the differential yaw moment was generated by reasonably distributing all wheel drive torque to ensure the roll stability of the vehicle. And the effectiveness of the proposed method was verified by driver in the loop experiment. The results show that the proposed control method can successfully avoid vehicle rollover under the extreme condition of driver manual operation, and the maximum absolute value of vehicle lateral load transfer rate is reduced by about 2%, the maximum roll angle is reduced by about 4.9%, the time of lateral load transfer rate exceeding roll threshold decreases by 42.2%.

Key words: vehicle dynamics, vehicle control system, muti-axle heavy-duty vehicle, active anti-rollover system, distributed electric drive

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