摘要
设计了半挂汽车列车直接横摆力矩的最优控制器,并对其有效性进行了验证。引入Gim轮胎模型建立了半挂汽车列车的非线性动力学模型,以牵引车质心侧偏角、横摆角速度,半挂车横摆角速度及牵引车与半挂车的中心线夹角为控制变量,提出了半挂汽车列车直接横摆力矩的最优控制方案,基于模型追踪控制技术推导了直接横摆力矩的最优控制器。借助Matlab/Simulink,以建立的非线性动力学模型为平台,对该控制器的有效性进行了验证。仿真结果表明:高速大转向时,装备直接横摆力矩最优控制器的半挂汽车列车能有效追踪理想模型,保证了半挂汽车列车的稳定性,使驾驶员能够对车辆进行正常地操纵。
The optimal controller of direct yaw-moment control of tractor-semitrailer was designed, and its effective- ness was verified. The Gim tire model was adopted to set up the nonlinear dynamic model of tractor-semitrailer. Choosing slip angle of tractor, yaw velocity of tractor and semitrailer, and angle of central line of tractor and semi- trailer as control variables, the optimal control scheme was proposed. An optimal controller of direct yaw-moment control for the tractor-semitrailer stability was developed based on model tracing control technique. Based on the es- tablished nonlinear dynamics model, simulation in Matlab/Simulink software environment is described. The simula- tion consults suggest that for tractor-semitrailer with optimal controller of DYC, the handling and stability perform- ance on big slip angle can be improved, which makes the driver drive the vehicle normally.
出处
《机械科学与技术》
CSCD
北大核心
2012年第10期1694-1697,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
教育部科学技术研究重点课题项目(209004)
天津市高等学校科技发展基金计划项目(20110405)资助
