基于MPC的半挂汽车列车高速变道稳定性研究

High-Speed Lane-Change Stability of the Tractor-Semitrailer Based on the Model Predictive Control

针对半挂汽车列车高速变道侧向稳定性问题,基于五自由度车辆参考模型和Trucksim软件中的车辆模型,设计了模型预测控制器,制定了差动制动目标制动车轮的选择规则,并在高速单移线和双移线工况下,通过仿真测试验证了所设计的控制系统的有效性。研究结果表明:所设计的控制系统在高速单移线和双移线这两种工况下都能使半挂汽车列车具有较好的变道稳定性;在高速单移线工况下,经控制后的牵引车和挂车,其质心侧偏角、横摆角速度和侧倾角的峰值都有了不同程度的下降,各状态参量达到稳态的时间明显缩短,车辆在变道过程中的横向摆振运动得到了明显的抑制;在高速双移线工况下,经控制后的半挂汽车列车避免了控制前车辆的危险侧翻运动,安全顺利地完成了高速双移线变道运动,提高了半挂汽车列车的高速变道稳定性。

In view of the lateral stability problem under high-speed lane-change conditions for the tractor-semitrailer,the model predictive controller was designed based on the five-freedom vehicle referenced model and the vehicle model in the Trucksim software.And the selection rules of differential braking target braking wheels were formulated.The effectiveness of the designed control system was verified through simulation tests under the conditions of high-speed single lane-change and double lane-change maneuvers.Research results show that the designed control system can make the tractor-semitrailer have better lane-change stability under the condition of single lane-change or double lane change maneuvers.Under the condition of high-speed single lane-change for the controlled tractor-semitrailer,the peak values of the centroid sideslip angles,the yaw rates and the roll angles have decreased in varying degrees,the time for each state parameter to reach the steady state is obviously shortened and the lateral swing motion of the vehicle during lane changing is obviously suppressed.Under the condition of high-speed double lane-change,the controlled tractor semitrailer avoids the dangerous rollover motion suffered by the uncontrolled tractor-semitrailer,completes the high-speed double lane-change motion safely and smoothly,and improves the high-speed lane-change stability of the tractor-semitrailer.