考虑变曲率弯道的重载车辆主动防侧翻模型预测控制

Rollover prevention model predictive control of heavy-duty vehicles considering variable curvature

为了提高重载车辆在大曲率弯道或紧急避障路况下的防侧翻性能,提出了主动转向与直接横摆力矩相结合的主动防侧翻集成控制器.首先,建立了基于横向载荷转移率的侧翻因子模型;然后,将横摆角速度、质心侧偏角和侧倾角作为状态量,设计了基于实时侧翻因子的车辆底盘自适应模型预测控制策略;最后,搭建了基于CarSim/Simulink的联合仿真平台和HIL硬件在环试验台架.实验结果表明:在双移线工况以及变曲率弯道道路上,相较于传统的车辆稳定性控制方法,所提出的控制系统控制器通过对前轮转向角以及额外横摆力矩的合理分配,将侧倾角和质心侧偏角分别控制在4°和0.5°以内,保证了侧翻因子抑制在合理范围,有效提高了车辆的防侧翻性能和横摆运动跟踪性能,实现了重载车辆在变曲率弯道下的稳定性和安全性.

In order to improve the anti-rollover performance of heavy-duty vehicles in large curvature curves or under emergency obstacle avoidance conditions, an integrated active anti-rollover controller combining active steering and direct yaw moment was proposed. Firstly, the rollover factor model based on load transfer ratio(LTR) was established. Then, utilizing yaw rate, sideslip angle and roll angle as the states, an adaptive model predictive control strategy for vehicle chassis based on the real-time rollover factor was designed. Finally, the CarSim/Simulink simulation platform and the hardware-in-loop(HIL) hardware in the loop test bench were set up. The experimental results show that compared with the traditional vehicle stability control method, the proposed control system controller can control the roll angle and sideslip angle within 4°and 0.5°by allocating the extra yaw moment and the steering angle of the front wheel reasonably under the condition of double lane change(DLC) and variable curvature road. The rollover factor is suppressed in a reasonable range, which means that the rollover anti-performance and yaw tracking performance of the vehicle are effectively improved, and the stability and safety of the heavy vehicle in the variable curvature curve are therefore realized.