双挂汽车列车横向稳定性控制策略

Control strategy of lateral stability for double trailer trains

双挂汽车列车相较于传统半挂车具有更高的运输效率和较低的运输成本,更适合未来公路运输绿色、便捷、高效的发展趋势,但较长的车身总长度和组成单元个数必然会对双挂汽车列车的整车稳定性产生影响.为研究并验证控制策略对双挂汽车列车横向稳定性的改善情况,基于Trucksim仿真平台搭建双挂汽车列车(B型双挂车)动力学模型,依据运动力学定律建立Simulink双挂汽车列车简化参考模型,分别以动力学和参考模型中各个单元的横摆角速度偏差、横向载荷转移率偏差为输入,结合模糊推理和PID(proportional-integral-derivative control,PID)控制理论构建整车横摆和侧倾稳定性主动控制策略,并根据车辆状态识别结果对控制策略的介入时机进行调整.模拟结果显示:主动控制策略使双挂汽车列车横向稳定性评价参数的波动幅度均有明显减小;各个单元的质心侧偏角峰值降低5.7%∼53%,横摆角速度峰值降低4.9%∼23.8%,侧倾角峰值降低0.5%∼24.9%,质心侧偏角峰值降低0.3%∼32.9%.表明本工作所设计的控制策略对双挂汽车列车的横向稳定性有改善作用,研究结果可为未来双挂汽车列车的横向稳定性研究提供参考.

Compared with the traditional semi-trailer,the double trailer train has higher transport efficiency and lower transport cost,and is more suitable for the future development trend of green,convenient and efficient road transport.However,the long total length of the vehicle body and the number of its components will inevitably affect the stability of the vehicle.In order to study and verify the improvement of the control strategy on the lateral stability of the double-trailer train,a dynamic model of the double trailer train(Type B double trailer)was built based on Trucksim simulation platform,which is a simplified reference model of Simulink double trailer train established according to the laws of mechanics.The yaw rate deviation and lateral load transfer rate deviation of each unit in the dynamic and reference model are taken as inputs respectively,based on fuzzy inference and PID(proportional-integral-derivative control)control theory.The active control strategy of vehicle yaw and roll stability is constructed,and the intervention time of control strategy is adjusted according to the result of vehicle state identification.The simulation results show that the active control strategy can significantly reduce thefluctuation amplitude of lateral stability evaluation parameters,and the peak value of the sideslip angle of each unit can be reduced by 5.7%∼53%,the yaw rate decreases by 4.9%∼23.8%,the roll angle decreases by 0.5%∼24.9%,and the lateral declination angle decreases by 0.3%∼32.9%.The results show that the control strategy designed in this paper can improve the lateral stability of the double trailer train,and the research results can provide a reference for the future study of the lateral vehicle stability of the double trailer train.