基于硬件在环的双挂汽车列车高速横向稳定性控制研究

Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

针对双挂汽车列车在高速超车工况的横向失稳、挂车折叠和甩尾等危险情况,提出了一种基于模糊比例、积分、微分(Proportion、Integral、Differential,PID)控制的直接横摆力矩差动制动控制策略,分别以双挂汽车列车TruckSim非线性模型与四自由度线性模型的质心侧偏角、横摆角速度的偏差及其偏差变化率为目标,设计了2种差动制动的横向稳定性控制策略,分别为仅牵引车控制的单控模式和牵引车加挂车都控制的多控模式,通过MATLAB/Simulink软件和TruckSim软件联合仿真以及硬件在环(Hardware-in-the-Loop,HIL)平台对控制策略的有效性进行仿真验证。结果表明:在高速超车工况下,相较于无控制车辆和单控模式车辆,多控模式车辆的横向稳定性控制系统更能降低车辆的质心侧偏角、横摆角速度、铰接角和车辆后部放大(Rearward Amplification,RWA)系数,在改善双挂汽车列车横向稳定性方面优势明显。

A direct yaw moment differential braking control strategy based on fuzzy Proportion、Integral、Differential(PID)control is proposed for the dangerous situation of double-trailer train under high-speed overtaking condition,such as lateral instability,trailer folding and tail-throwing.Two kinds of lateral stability control strategies for differential braking were designed,namely sin-gle-control mode controlled only by tractor and multi-control mode controlled by both tractor and trailer,aiming at the lateral de-flection angle and yaw velocity deviation and deviation change rate of the TruckSim nonlinear model and the four-degree-of-free-dom linear model respectively.The effectiveness of the control strategy was verified through the co-simulation of MATLAB/Simu-link software and TruckSim software and the Hardware-in-the-Loop(HIL)platform.The results show that,in high-speed overta-king conditions,the lateral stability control system of multi-control vehicles is better able to reduce the lateral declination angle,yaw speed,articulated angle and Rearward Amplification(RWA)coefficient of the vehicle than that of uncontrolled vehicles and single-control vehicles,and is significantly better in improving the lateral stability of double-truck trains.