基于差动制动的四轮转向商用车防侧翻控制

Anti-rollover Control of Four-wheel Steering Commercial Vehicle Based on Differential Brake Control

为提升商用车极限工况下的侧向稳定性,以某四轮转向商用车为研究对象,基于线性二次型调节器设计了四轮转向控制策略,在此基础上设计了差动制动控制策略。以横向载荷转移率为侧翻评价指标,建立了四轮转向+差动制动的防侧翻综合控制策略,利用TruckSim和MATLAB分别进行了转向盘角阶跃输入工况和鱼钩工况的仿真试验。仿真结果表明:相比四轮转向控制,综合控制策略使该商用车的横向载荷转移率最大值降低6.4%以上,质心侧偏角降低了41%,改善了车辆的侧向稳定性和道路跟随能力。

To improve the lateral stability of commercial vehicle under extreme condition,taking a commercial vehicle with four wheel steering as the research object,a four-wheel steering control strategy was designed based on linear quadratic regulator,and a differential braking control strategy was designed.Taking lateral load transfer rate as rollover evaluation index,the anti-rollover comprehensive control strategy of four-wheel steering and differential braking was established.TruckSim and MATLAB were used to simulate steering wheel angle step input conditions and fish hook conditions respectively.The simulation results show that,compared with the four-wheel steering control,the lateral load transfer rate of the commercial vehicle can be reduced by more than 6.4%,and the sideslip angle canbe reduced by 41%under the comprehensive control strategy.It can improve the lateral stability and road following ability of the vehicle.