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| 重型半挂车多目标稳定性控制策略 | |
| 引用本文： | 朱天军,李飞,宗长富,崔国华.重型半挂车多目标稳定性控制策略[J].农业机械学报,2011,42(12):32-37. |
| 作者姓名： | 朱天军 李飞 宗长富 崔国华 |
| 作者单位： | 1. 河北工程大学机电工程学院,邯郸056038;中国汽车技术研究中心,天津300162 2. 中国汽车技术研究中心,天津,300162 3. 吉林大学汽车仿真与控制国家重点实验室,长春,130025 4. 河北工程大学机电工程学院,邯郸,056038 |
| 基金项目： | 国家自然科学基金资助项目（51075176）和汽车仿真与控制国家重点实验室开放基金资助项目（20101103） |
| 摘 要： | 针对重型半挂车侧翻稳定性问题,建立了重型半挂车六轴模型,同时为了描述车辆的非线性特性,在车辆模型中加入非线性轮胎模型,并通过商业软件TruckSim进行模型验证.利用LQR最优控制技术,研究基于牵引车横摆角速度、侧向加速度及车辆铰接角的重型半挂车多目标稳定性控制策略,并在TruckSim和Matlab/Simulink联合仿真环境下进行算法仿真验证.仿真结果表明:提出的重型半挂车多目标稳定性控制策略可以有效提高车辆的行驶稳定性,从而避免危险事故发生. |
| 关 键 词： | 重型半挂车 稳定性控制 侧翻 折叠 LQR最优控制 |
Multi-objective Stability Control Strategy of Heavy Tractor Semi-trailer |
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| Zhu Tianjun,Li Fei,Zong Changfu and Cui Guohua.Multi-objective Stability Control Strategy of Heavy Tractor Semi-trailer[J].Transactions of the Chinese Society of Agricultural Machinery,2011,42(12):32-37. | |
| Authors: | Zhu Tianjun Li Fei Zong Changfu and Cui Guohua |
| Institution: | Hebei University of Engineering,China Automotive Technology and Research Center;China Automotive Technology and Research Center;Jilin University;Hebei University of Engineering |
| Abstract: | For the rollover stability of heavy tractor semi-trailer,six-axle vehicle model was set up.The nonlinear tire model was used in the real model simultaneously to describe the nonlinear characters of vehicle.The commercial software TruckSim was employed to testify the model.Multi-objective stability control strategy based on tractor yaw rate,lateral acceleration and articulated angle of vehicle was suggested by using LQR optimal control technique.It was also confirmed in the integrated co-simulation of TruckS... |
| Keywords: | Heavy tractor semi-trailer Stability control Rollover Jackknifing LQR optimal control |
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