三轴重载汽车转向制动协同控制仿真分析

Simulation analysis on steer-brake coordinated control of three-axle heavy-duty vehicle

为提高三轴重载汽车在转向制动工况下的安全性能,基于TruckSim汽车仿真软件,搭建了三轴重载汽车整车模型。对三轴汽车在转向制动工况下的力学特性进行了分析,基于分析结果设计了削减制动力的三轴汽车转向制动协同控制器。对于车辆处于不足转向的情况,设计了滑移率分配的模糊控制器。采用TruckSim与Simulink联合仿真,对ABS控制和协同控制在转向制动工况下的控制效果进行了探讨。仿真结果表明,在转向制动工况下,与ABS控制器相比,协同控制器提高了三轴重载汽车转向制动工况下的操纵稳定性和制动安全性。

A three-axle heavy-duty vehicle model was built based on the TruckSim vehicle simulation software in order to improve the safety performance of the vehicle under the steering braking condition.The mechanical properties of three-axle vehicles under steering braking conditions were analyzed.Based on the analysis results,a three-axis vehicle steering brake cooperative controller was designed by reducing braking force.A fuzzy controller for slip ratio distribution was designed for the case that the vehicle was understeering.The control effect of ABS control and coordinated control under steering braking conditions were examined by using co-simulation with TruckSim and Simulink.The simulation results show that the coordinated controller improves the steering stability and braking safety of the three-axle heavy-duty vehicle compared with the ABS controller under steering braking conditions.