朱天军,李飞,宗长富,崔国华.重型半挂车多目标稳定性控制策略[J].农业机械学报,2011,42(12):32-37.
Zhu Tianjun,Li Fei,Zong Changfu,Cui Guohua.Multi-objective Stability Control Strategy of Heavy Tractor Semi-trailer[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(12):32-37.
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重型半挂车多目标稳定性控制策略   [下载全文]
Multi-objective Stability Control Strategy of Heavy Tractor Semi-trailer   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  重型半挂车  稳定性控制  侧翻  折叠  LQR最优控制
基金项目:国家自然科学基金资助项目(51075176)和汽车仿真与控制国家重点实验室开放基金资助项目(20101103)
作者单位
朱天军 河北工程大学,中国汽车技术研究中心 
李飞 中国汽车技术研究中心 
宗长富 吉林大学 
崔国华 河北工程大学 
中文摘要:针对重型半挂车侧翻稳定性问题,建立了重型半挂车六轴模型,同时为了描述车辆的非线性特性,在车辆模型中加入非线性轮胎模型,并通过商业软件TruckSim进行模型验证。利用LQR最优控制技术,研究基于牵引车横摆角速度、侧向加速度及车辆铰接角的重型半挂车多目标稳定性控制策略,并在TruckSim和Matlab/Simulink联合仿真环境下进行算法仿真验证。仿真结果表明:提出的重型半挂车多目标稳定性控制策略可以有效提高车辆的行驶稳定性,从而避免危险事故发生
Zhu Tianjun  Li Fei  Zong Changfu  Cui Guohua
Hebei University of Engineering,China Automotive Technology and Research Center;China Automotive Technology and Research Center;Jilin University;Hebei University of Engineering
Key Words:Heavy tractor semi-trailer, Stability control, Rollover, Jackknifing, LQR optimal control
Abstract:For the rollover stability of heavy tractor semi trailer, six-axle vehicle model was set up. The nonlinear tire model was used in the real model simultaneously to describe the nonlinear characters of vehicle. The commercial software TruckSim was employed to testify the model. Multi-objective stability control strategy based on tractor yaw rate, lateral acceleration and articulated angle of vehicle was suggested by using LQR optimal control technique. It was also confirmed in the integrated co-simulation of TruckSim and Matlab/Simulink. The simulation results showed that the multi-objective stability control strategy over heavy tractor semi-trailer could effectively improve the stability of vehicle and avoid the occurrence of dangerous accidents.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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