半挂汽车列车多轴主动转向控制策略研究

doi:10.3969/j.issn.1674-0696.2023.08.19

重庆交通大学学报（自然科学版） ›› 2023, Vol. 42 ›› Issue (8): 139-146.DOI: 10.3969/j.issn.1674-0696.2023.08.19

• 交通装备 • 上一篇

半挂汽车列车多轴主动转向控制策略研究

邓召文1,3，孔昕昕2，高伟2,3

(1. 湖北汽车工业学院汽车工程师学院，湖北十堰442002； 2.湖北汽车工业学院汽车工程学院，湖北十堰442002； 3. 南京航空航天大学能源与动力学院，江苏南京210016)

收稿日期:2021-07-15 修回日期:2023-02-26 发布日期:2023-09-15
作者简介: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仿真与控制方面的研究。E-mail:dengzhaowen1@163.com 通信作者：高伟（1978—），女，吉林农安人，副教授，博士研究生，主要从事新能源汽车动力学仿真控制等方面的研究，E-mail：gaow_qc@huat.edu.cn
基金资助:
国家自然科学基金项目（52072116）；湖北省重点研发计划项目（2020BAB141）；湖北省教育厅科研项目(B2021144)

Multi-axis Active Steering Control Strategy of Semi-Trailer Trains

DENG Zhaowen1,3, KONG Xinxin2, GAO wei2,3

（1. Technology Institute of Automotive Engineers, Hubei University of Automotive Technology, Shiyan 442002, Hubei, China; 2. Technology Institute of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, Hubei, China; 3. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China）

Received:2021-07-15 Revised:2023-02-26 Published:2023-09-15

摘要/Abstract

摘要： 针对半挂汽车列车低速机动性和高速稳定性较差的问题，建立三轴半挂汽车列车三自由度线性参考模型，以牵引车与挂车横摆角速度趋近于参考值、质心侧偏角趋近于零为设计目标，采用线性二次型调节器（linear quadratic regulator, LQR），制定牵引车挂车主动转向控制策略；应用仿真软件，在低速360°圆形工况与高速单移线工况下对LQR主动转向控制车辆进行仿真，并与无控制车辆模型进行对比分析。仿真结果表明，LQR主动转向控制车辆的低速机动性和高速稳定性得到了有效改善，证明所制定的控制策略具有较好的控制效果。

关键词: 车辆工程；半挂汽车列车；线性二次型调节器；多轴转向控制；低速机动性；高速稳定性；路径跟踪性

Abstract: To address the problem of poor low-speed maneuverability and high-speed stability of semi-trailer trains, a three-degree-of-freedom linear reference model of three-axis semi-trailer car train was established. Taking the yaw rate of tractor and trailer approaching to the reference value and the sideslip angle of the center of mass approaching to zero as the design goal, a linear quadratic form regulator (LQR) was used to formulate the active steering control strategy for tractor and trailer. The simulation software was applied to simulate the LQR active steering control of vehicle under low-speed 360° roundabout and high-speed single lane-change maneuver, and it was compared with the uncontrolled vehicle model. The simulation results show that the low-speed maneuverability and high-speed stability of the LQR active steering control vehicle are effectively improved, which proves that the proposed control strategy has good control effect.

Key words: vehicle engineering; semi-trailer train; linear quadratic regulator; multi-axis steering control; low-speed maneuverability; high-speed stability; path tracking

中图分类号:

U469.5

邓召文1,3，孔昕昕2，高伟2,3. 半挂汽车列车多轴主动转向控制策略研究[J]. 重庆交通大学学报（自然科学版）, 2023, 42(8): 139-146.

DENG Zhaowen1,3, KONG Xinxin2, GAO wei2,3. Multi-axis Active Steering Control Strategy of Semi-Trailer Trains[J]. Journal of Chongqing Jiaotong University(Natural Science), 2023, 42(8): 139-146.

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半挂汽车列车多轴主动转向控制策略研究

Multi-axis Active Steering Control Strategy of Semi-Trailer Trains

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