摘要
引入Gim轮胎模型建立四轮转向半挂汽车列车的四自由度非线性动力学模型。考虑轮胎侧偏刚度的不确定性,提出四轮转向半挂汽车列车直接横摆力矩的鲁棒最优保性能控制方案,基于模型追踪控制技术推导了直接横摆力矩的鲁棒最优保性能控制器。借助Matlab/Simulink软件,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,与传统二次最优控制相比,四轮转向鲁棒最优保性能控制方案可获得更好的控制效果,可显著提高半挂汽车列车的操纵稳定性。
The Gim tire model was adopted to set up the nonlinear dynamic model of 4WS tractor-semitrailer. Considering the un- certain characteristic of the tire cornering stiffness,the optimal guaranteed cost control scheme was proposed. An optimal guaran- teed cost controller of DYC for the tractor-semitrailer stability was developed based on model following technique. Based on the established nonlinear dynamic model, simulation in Matlab/Simulink software environment is described. The simulation consults suggest that for tractor-semitrailer with optimal guaranteed cost controller of DYC, the handling and stability performance on big slip angle is improved.
出处
《现代制造工程》
CSCD
北大核心
2016年第4期69-73,共5页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(51307119)
天津职业技术师范大学科研发展基金资助项目(RC14-13)
