基于MPC的重型液罐车侧向稳定性控制仿真

Simulation analysis of lateral stability for liquid tank truck based on model predictive control(MPC)

当重型液罐车高速通过弯道或变道时,由于液罐内液体的不规则运动,整车极易发生横移、侧翻等不稳定状况。建立了液体晃动模型,并依据液罐半挂车三自由度模型,联合罐体内部液体晃动模型构成车-液耦合模型;采用基于模型预测控制策略的差动制动主动控制对整车模型进行MATLAB/Simulink与Trucksim联合仿真。结果表明,基于模型预测控制策略能够有效提高液罐车整车抵抗侧翻的能力,减少侧翻事故。

As the liquid tank truck passes through curves or changes lanes at high speed,it may be prone to traverse or rollover due to the irregular movement of the liquid in the tank.We build a vehicle sloshing model and a vehicle-fluid coupling model according to the 3D model of tank semi-trailer and the inside liquid sloshing model.With differential braking active control based on model predictive control strategy,we make MATLAB/Simulink and Trucksim simulation for the vehicle model.The results indicate that the model-based predictive control strategy can effectively improve the ability of vehicle to resist rollover.