摘要:
设计了半挂汽车列车直接横摆力矩的最优控制器,并对其有效性进行了验证。引入Gim轮胎模型建立了半挂汽车列车的非线性动力学模型,以牵引车质心侧偏角、横摆角速度,半挂车横摆角速度及牵引车与半挂车的中心线夹角为控制变量,提出了半挂汽车列车直接横摆力矩的最优控制方案,基于模型追踪控制技术推导了直接横摆力矩的最优控制器。借助Matlab/Simulink,以建立的非线性动力学模型为平台,对该控制器的有效性进行了验证。仿真结果表明:高速大转向时,装备直接横摆力矩最优控制器的半挂汽车列车能有效追踪理想模型,保证了半挂汽车列车的稳定性,使驾驶员能够对车辆进行正常地操纵。
Abstract:
The optimal controller of direct yaw-moment control of tractor-semitrailer was designed,and its effectiveness was verified.The Gim tire model was adopted to set up the nonlinear dynamic model of tractor-semitrailer.Choosing slip angle of tractor,yaw velocity of tractor and semitrailer,and angle of central line of tractor and semitrailer as control variables,the optimal control scheme was proposed.An optimal controller of direct yaw-moment control for the tractor-semitrailer stability was developed based on model tracing control technique.Based on the established nonlinear dynamics model,simulation in Matlab/Simulink software environment is described.The simulation consults suggest that for tractor-semitrailer with optimal controller of DYC,the handling and stability performance on big slip angle can be improved,which makes the driver drive the vehicle normally.
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