智能商用汽车防侧翻轨迹跟踪集成控制器设计

doi:10.3969/j.issn.1674-0696.2024.11.15

重庆交通大学学报（自然科学版） ›› 2024, Vol. 43 ›› Issue (11): 122-129.DOI: 10.3969/j.issn.1674-0696.2024.11.15

• 交通装备 • 上一篇

智能商用汽车防侧翻轨迹跟踪集成控制器设计

冯樱，乔宝山，袁显举，邓召文

(湖北汽车工业学院汽车工程学院，湖北十堰 442002)

收稿日期:2022-01-04 修回日期:2023-04-25 发布日期:2024-11-27
作者简介:冯樱（1968—），女，湖南醴陵人，教授，主要从事汽车系统动力学方面的研究。E-mail:1241115904@qq.com 通信作者：邓召文（1979—），男，山东安丘人，副教授，博士研究生，主要从事汽车动力学工程方面的研究。E-mail: 277303704@qq.com
基金资助:
湖北省中央引导地方科技发展专项项目(2019ZYYD019)

Design of Integrated Controller for Anti-rollover Trajectory Tracking of Intelligent Commercial Vehicles

FENG Ying, QIAO Baoshan, YUAN Xianju, DENG Zhaowen

(College of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, Hubei, China)

Received:2022-01-04 Revised:2023-04-25 Published:2024-11-27

摘要/Abstract

摘要： 针对智能商用汽车重心高、惯性大，在曲线行驶时易发生侧翻的特点，设计了一种能预测、控制防侧翻轨迹的跟踪集成控制器。基于模型预测控制原理的主动转向系统对车辆轨迹进行跟踪控制，利用模型预测控制的预测功能对车辆侧倾运动状态进行监测；以等效横向载荷转移率作为触发信号，若其小于阈值，防侧翻主动悬架控制不起作用；反之，则会启动主动悬架控制以防止侧翻发生；利用MATLAB/Simulink和Trucksim软件对车辆的典型工况进行联合仿真模拟。研究结果表明：该防侧翻轨迹跟踪系统能保证车辆的跟随精度，可有效地避免侧翻事故发生。

关键词: 车辆工程；智能商用汽车；模型预测控制；防侧翻轨迹跟踪；集成控制

Abstract: A tracking integrated controller that could predict and control the anti-rollover trajectory was designed to address the high center of gravity and inertia of intelligent commercial vehicles, which were prone to rollover during curved driving. The vehicle trajectory was tracked and controlled by the active steering system, based on model predictive control (MPC) principle, and the rollover motion status of vehicles was monitored by use of the predictive function of MPC. The equivalent lateral load transfer rate was used as a trigger signal, if it was less than the threshold, the anti-rollover active suspension control would not work; on the contrary, active suspension control would be activated to prevent rollover. The co-simulation of vehicle typical working conditions was carried out by MATLAB/Simulink and Trucksim software. The research results demonstrate that the proposed anti-rollover trajectory tracking system can ensure the tracking accuracy of the vehicle and effectively avoid rollover accidents.

Key words: vehicle engineering; intelligent commercial vehicle; model predictive control; anti-rollover trajectory tracking; integrated control

中图分类号:

U461.6

冯樱，乔宝山，袁显举，邓召文. 智能商用汽车防侧翻轨迹跟踪集成控制器设计[J]. 重庆交通大学学报（自然科学版）, 2024, 43(11): 122-129.

FENG Ying, QIAO Baoshan, YUAN Xianju, DENG Zhaowen. Design of Integrated Controller for Anti-rollover Trajectory Tracking of Intelligent Commercial Vehicles[J]. Journal of Chongqing Jiaotong University(Natural Science), 2024, 43(11): 122-129.

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智能商用汽车防侧翻轨迹跟踪集成控制器设计

Design of Integrated Controller for Anti-rollover Trajectory Tracking of Intelligent Commercial Vehicles

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