摘要
以重型半挂车为研究对象,提出一种基于差速制动的重型半挂车主动防侧翻控制策略,采用线性二次型最优控制理论并结合差速制动原理设计了防侧翻控制器,融合了基于逻辑门限值的滑移率控制,防止制动时车轮发生抱死。联合仿真试验结果证实:所提出的防侧翻控制方法能够阻止重型半挂车发生侧翻,明显提高了车辆的抗侧翻性能,其中挂车的横向载荷转移率、侧倾角、质心侧偏角、横摆角速度、侧向加速度改善率分别为13.25%、36.71%、31.51%、21.63%、22.39%,改善了车辆转弯时的侧向稳定性。
An active anti-rollover control strategy for heavy-duty semi-trailers based on differential braking was proposed.Taking heavy-duty semi-trailers as the research object,an anti-rollover controller was designed using linear quadratic optimal control theory and the principle of differential braking.It incorporated slip rate control based on logic thresholds to prevent the wheels from rolling during braking.The joint simulation test results confirm that the proposed anti-rollover control method can prevent the heavy-duty semi-trailer from rolling over and significantly improve the anti-rollover performance of the vehicle.The improvement rates of sway angular velocity and lateral acceleration are 13.25%,56.75%,16.67%,10.71%and 22.39%respectively,improving the lateral stability of the vehicle when turning.
作者
卜凡合
汪选要
Bu Fanhe;Wang Xuanyao(School of Mechanical and Electrical Engineering,Anhui University of Science and Technology,Huainan,Anhui 232000,China)
出处
《黑龙江工业学院学报（综合版）》
2024年第6期129-136,共8页
Journal of Heilongjiang University of Technology(Comprehensive Edition)
基金
安徽省自然科学基金项目(项目编号:1908085ME159)
安徽省博士后研究人员科研活动经费资助项目(项目编号:2020B447)。
关键词
重型半挂车
差速制动
侧翻稳定性
联合仿真
heavy semi-trailer
differential braking
rollover stability
co-simulation
