摘要
双半挂汽车列车具备较强的运输能力和相对较低的运输成本等优势。然而,与半挂车相比,双半挂汽车列车拥有更多的车辆单元,导致驾驶难度更高且高速横向稳定性更差。针对此问题,提出了模型预测控制(model predictive control,MPC)与差动制动相互结合的控制策略。根据MPC原理,设计了MPC双半挂汽车列车横向稳定性控制器。通过MPC控制3个车辆单元的横摆力矩,结合差动制动技术从而实现各个车轮制动力的分配。在Trucksim搭建了双半挂汽车列车模型且MATLAB/Simulink中建立车辆简化模型。通过Trucksim与MATLAB/Simulink联合仿真,在不同车速、负载、附着系数情况下验证了所设计系统的有效性。研究结果表明:所设计的控制器有效地降低了各车辆单元的质心侧偏角、侧向加速度和横摆角速度等,提高了双半挂汽车列车高速变道时的稳定性。
The double semi-trailer truck train has strong transportation capacity and relatively low transportation costs.However,compared to semi-trailers,double semi-trailer truck train has more vehicle units,resulting in higher driving difficulty and lower lateral stability at high speeds.To address this issue,a control strategy combining model predictive control(MPC)with differential braking was proposed.Based on the principles of MPC,an MPC lateral stability controller for double semi-trailer truck trains has been designed.MPC regulates the yaw moments of three vehicle units,with differential braking technology dynamically allocating braking forces to individual wheels.The double semi-trailer truck train model has been built in Trucksim,and a simplified vehicle model has been established in MATLAB/Simulink.Through joint simulation of Trucksim and MATLAB/Simulink,the effectiveness of the designed system was verified under different vehicle speeds,loads,and friction coefficients.The research results indicate that the designed controller effectively reduces the centroid yaw angle,lateral acceleration,and yaw rate of each vehicle unit,thereby enhancing the stability of double semi-trailer truck train during high-speed lane changes.
作者
周庆辉
张博宇
ZHOU Qing-hui;ZHANG Bo-yu(School of Mechanical-Electrical and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100044,China)
出处
《科学技术与工程》
北大核心
2025年第17期7365-7372,共8页
Science Technology and Engineering
基金
住房和城乡建设部科学技术计划(2022-K-079)
北京建筑大学研究生创新项目(双半挂横向稳定性研究)。
关键词
双半挂汽车列车
横向稳定性控制
模型预测控制
差动制动
力矩分配
double semi-trailer truck train
lateral stability control
model predictive control
differential braking
torque distribution
作者简介
第一作者:周庆辉(1973-),男,汉族,山东济南人,博士,教授。研究方向:车辆智能控制技术。E-mail:zhouqinghui@bucea.edu.cn。
