重型半挂车主动防侧翻控制策略研究

以重型半挂车为研究对象,提出一种基于差速制动的重型半挂车主动防侧翻控制策略,采用线性二次型最优控制理论并结合差速制动原理设计了防侧翻控制器,融合了基于逻辑门限值的滑移率控制,防止制动时车轮发生抱死。联合仿真试验结果证实:所提出的防侧翻控制方法能够阻止重型半挂车发生侧翻,明显提高了车辆的抗侧翻性能,其中挂车的横向载荷转移率、侧倾角、质心侧偏角、横摆角速度、侧向加速度改善率分别为13.25%、36.71%、31.51%、21.63%、22.39%,改善了车辆转弯时的侧向稳定性。

Simulation on Driving System Used for Differential Steering of Electric Scooter

To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.

操稳性控制介入时的驾驶员干扰与补偿控制

针对差速制动系统稳定性控制介入产生车辆瞬态响应突变,使驾驶员主观不适应这一“人”的因素,以及车辆横摆-侧向稳定性动力学与转向系统操纵动力学耦合影响这一“车”的因素,共同引起驾驶员不当操作,对控制系统形成强烈干扰的问题,重点考虑差速制动操稳性控制与转向系统操纵动力学的耦合特性,建立“纵向-侧向-横摆-转向操纵”非线性动力学模型,研究差速制动介入情况下,因动力学系统复杂耦合作用这一“车”的因素导致的驾驶员反馈干扰形成机理,分析并量化驾驶员保持正常驾驶时的转向操纵力矩可能导致的方向盘转角干扰输入.最后,为助力转向系统设计补偿控制策略以消除差速制动操稳性控制主动介入后对转向操纵动力学的耦合影响.