摘要
以半挂车的横摆角速度、侧向加速度、牵引车与半挂车的铰接角及铰接角速度为控制变量,建立了4自由度6轴重型半挂汽车列车的动力学参考模型,并应用ISO双移线工况对此模型进行验证。考虑到等速圆周稳态工况下行驶和地面附着系数等因素对汽车的限制,确定了控制变量横摆角速度和侧向加速度的参考值。采用基于线性二次型调节器(LQR)的最优控制策略及半挂汽车列车单侧制动方案,应用Trucksim软件对参考模型进行了鱼钩转向工况仿真分析。仿真结果表明:所提出的控制策略正确、有效,实现了提高半挂汽车列车稳定性的控制目标。
Dynamics reference model of heavy semi-trailer train with four degrees of freedom and six-axles was set up and the control variables were composed of yaw rate,lateral acceleration,hitch articulation angle of tractor and semi-trailer and hitch articulation rate.The model was proved to be accurate by validation of ISO double lane change condition.Considering that the automobile was restricted by constant velocity circular motion on steady condition and adhesion coefficient of ground,the reference values of yaw rate and lateral acceleration were determined.Using optimal control strategy based on linear quadratic regulator（LQR）,single side braking project of semi-trailer train,and Trucksim software,the reference model was simulated in fishhook condition analysis.The simulation results show that the control strategy is correct and effective.It can realize the control target on enhancement of semi-trailer train stability.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2011年第2期114-119,共6页
China Journal of Highway and Transport
基金
国家自然科学基金项目(51075176)
教育部高等学校博士学科点专项科研基金项目(200801830030)
