基于不变集的半挂汽车列车防侧翻控制研究

Research on Anti-Rollover Stability Control Based on Invariant for A Tractor Semi-Trailer

针对行车过程中的不确定性干扰及半挂车高度的强非线性导致的模型失配问题,应用不变集理论,将状态、控制输入和干扰的约束考虑为鲁棒控制不变集并作为控制器的终端约束,建立了反映半挂车横摆及侧倾运动学特性的7自由度动力学模型,用于预测控制算法设计控制器、跟踪参考信号、解决滚动优化带约束的有限时域最优控制问题,得出最优控制输入,即3根主车轴的防侧翻力矩,并由主动防侧倾杆实施以达到防侧倾控制。最后进行了典型工况的仿真,结果表明:应用所设计的鲁棒模型预测控制器可较好地防止半挂车侧翻。

The uncertainty in the process of driving caused by interference and semi strongly nonlinear model mismatch problem was always existent,and to cope with these problems,the invariant set theory was applied. The constraints of state,control input and disturbance were considered as robust control invariant set which was also the terminal constraints of the controller. The 7 degrees of freedom dynamic model that could reflect semi-trailer yawing and roll kinematics characteristics was established,it＇s used for the design of model predictive control algorithm controller. The controller tracked the reference signal,optimized limited time optimal control problem with constraints and solved the optimal control input,i. e. the three main axle anti-rollover torque,and the active roll bars achieve them. Finally,typical simulations were carried out,which proves that the robust model predictive controller can prevent the semi-trailer from being rollover.