面向复杂工况的重型半挂车侧翻控制策略研究

A Rollover Control Strategy of Articulated Heavy Vehicles in Complex Working Conditions

对复杂工况下重型半挂车侧翻最优控制进行了研究.基于前馈与反馈相结合的方式,采用挂车主动转向和差动制动集成,应用LQR(Linear quadratic regulator)最优控制算法,提出了重型半挂车侧翻控制策略.此策略采用线性变参数简化模型,利用遗传粒子群算法优化了控制策略的控制权重系数,以协调控制策略的各子系统和实现控制策略最优控制,并进行了控制策略的硬件在环试验台实验.实验结果表明:本策略有效地提高了重型半挂车复杂工况的侧翻控制能力.

In order to control rollover of articulated heavy vehicles in complex working conditions,a rollover control strategy of articulated heavy vehicles was presented. The strategy was based on differential braking and trailer active steering. Feed-forward and feedback LQR control method was adopted in the strategy. The simplified linear variable real-time parameters model was adopted in the proposed strategy. The optimal weight coefficients were optimized by the genetic particle swarm optimization algorithm to coordinate subsystems and achieve optimal control. The rollover control strategy was verified in the Hardware-in-Loop（ HIL） bench. The test results indicate that： the rollover control strategy of articulated heavy vehicles can optimally control the rollover of articulated heavy vehicles in complex working conditions.