Research on Model Predictive Control of Heavy Dump Truck Against Rollover
-
摘要: 针对重型自卸车在极限工况下的侧翻稳定性问题，提出一种基于模型预测控制(MPC)的差动制动控制算法。根据重型自卸车参考模型建立控制矩阵，以质心侧偏角、横摆角速度、侧倾角为决策依据，以横向载荷转移率作为侧翻评价指标，通过差动制动的方式为车辆提供附加稳定力矩从而达到提高汽车行驶稳定性的目的。采用MATLAB/Simulink与TruckSim联合仿真，在两种典型侧翻工况下进行仿真试验。结果表明，所设计的基于模型预测控制的防侧翻控制系统能有效地抑制汽车侧翻，保障行驶安全，提高了重型自卸车的侧翻稳定性。Abstract: Aiming at the rolling stability of heavy dump truck in extreme conditions, a differential braking control algorithm was proposed based on model predictive control(MPC). The control matrix was established according to the reference model of the heavy-duty dump truck. The decision is based on the center of mass slip angle, the yaw velocity and the roll angle. And the lateral load transfer rate is taken as the rollover evaluation index. The additional stabilizing torque is provided for the vehicle through differential braking, thereby improving the driving stability of the vehicle. After that, the joint simulation of MATLAB/Simulink and Trucksim was used to conduct simulation tests under two typical rollover working conditions. The simulation results show that the anti-rollover control system based on model predictive control can effectively inhibit the rollover of vehicles, ensure driving safety, and improve the rolling stability of heavy dump trucks.
-
Key words:
- model predictive control /
- differential braking /
- heavy dump truck /
- stability
-
[1] 郑恩瑞, 夏长高, 陈松. 基于主动横向稳定器的车辆稳定性研究[J]. 机械科学与技术, 2015, 34(12): 1952-1955 https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201512028.htmZHENG E R, XIA C G, CHEN S. Studying stability of vehicle equipped with active anti-roll controller[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(12): 1952-1955 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201512028.htm [2] 徐磊, 郝军, 周金应. 基于ESC的轻型汽车侧翻特性分析[J]. 内燃机与配件, 2018(11): 66-68 doi: 10.3969/j.issn.1674-957X.2018.11.031XU L, HAO J, ZHOU J Y. Analysis of rolled-over characteristics of light vehicle based on ESC[J]. Internal Combustion Engine & Parts, 2018(11): 66-68 (in Chinese) doi: 10.3969/j.issn.1674-957X.2018.11.031 [3] 王慧丽, 史忠科. 山区道路车辆侧翻模型与安全分析[J]. 交通信息与安全, 2013, 31(3): 93-97 doi: 10.3963/j.issn.1674-4861.2013.03.020WANG H L, SHI Z K. Rollover analysis for vehicle on mountain roads[J]. Journal of Transport Information and Safety, 2013, 31(3): 93-97 (in Chinese) doi: 10.3963/j.issn.1674-4861.2013.03.020 [4] 赵伟, 王宁宁, 段燕燕, 等. 车辆防侧翻横摆力矩最优控制策略研究[J]. 中国农机化学报, 2016, 37(6): 133-138 https://www.cnki.com.cn/Article/CJFDTOTAL-GLJH201606030.htmZHAO W, WANG N N, DUAN Y Y, et al. Study on vehicle rollover prevention yaw moment optimal control strategy[J]. Journal of Chinese Agricultural Mechanization, 2016, 37(6): 133-138 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GLJH201606030.htm [5] 张宝珍, 阿米尔, 谢晖. 基于主动脉冲后轮转向的侧翻稳定性仿真与试验[J]. 汽车工程, 2016, 38(7): 857-864, 856 doi: 10.3969/j.issn.1000-680X.2016.07.011ZHANG B Z, AMIR K, XIE H. Simulation and test of rollover stability based on rear wheel pulsed active steering[J]. Automotive Engineering, 2016, 38(7): 857-864, 856 (in Chinese) doi: 10.3969/j.issn.1000-680X.2016.07.011 [6] 宗长富, 韩小健, 赵伟强, 等. 基于动态LTR的客车防侧翻控制[J]. 中国公路学报, 2016, 29(9): 136-142 doi: 10.3969/j.issn.1001-7372.2016.09.018ZONG C F, HAN X J, ZHAO W Q, et al. Anti-rollover control of bus based on dynamic LTR[J]. China Journal of Highway and Transport, 2016, 29(9): 136-142 (in Chinese) doi: 10.3969/j.issn.1001-7372.2016.09.018 [7] 陈松, 夏长高, 潘道远, 等. AARB与ESP集成控制的车辆行驶安全性研究[J]. 机械科学与技术, 2017, 36(8): 1284-1291 https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201708023.htmCHEN S, XIA C G, PAN D Y, et al. Study on vehicle driving safety by integrated control of AARB and ESP[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(8): 1284-1291 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXKX201708023.htm [8] 乔宝山, 冯樱, 乔思凯. 基于纵向力控制的客车侧向稳定性研究[J]. 湖北汽车工业学院学报, 2019, 33(3): 1-5, 20 doi: 10.3969/j.issn.1008-5483.2019.03.001QIAO B S, FENG Y, QIAO S K. Study on lateral stability of bus based on longitudinal force control[J]. Journal of Hubei University of Automotive Technology, 2019, 33(3): 1-5, 20 (in Chinese) doi: 10.3969/j.issn.1008-5483.2019.03.001 [9] 欧健, 苏帅康, 杨鄂川, 等. 基于不变集的半挂汽车列车防侧翻控制研究[J]. 重庆理工大学学报(自然科学版), 2018, 32(4): 55-61 doi: 10.3969/j.issn.1674-8425(z).2018.04.009OU J, SU S K, YANG E C, et al. Research on anti-rollover stability control based on invariant for a tractor semi-trailer[J]. Journal of Chongqing University of Technology (Natural Science), 2018, 32(4): 55-61 (in Chinese) doi: 10.3969/j.issn.1674-8425(z).2018.04.009 [10] LI L, LU Y S, WANG R R, et al. A three-dimensional dynamics control framework of vehicle lateral stability and rollover prevention via active braking with MPC[J]. IEEE Transactions on Industrial Electronics, 2017, 64(4): 3389-3401 doi: 10.1109/TIE.2016.2583400 [11] LI H Q, ZHAO Y Q, LIN F, et al. Nonlinear dynamics modeling and rollover control of an off-road vehicle with mechanical elastic wheel[J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2018, 40(2): 51 doi: 10.1007/s40430-018-1009-8 [12] 王二红. 大客车防侧翻预警及控制系统研究[D]. 重庆: 重庆交通大学, 2014WANG E H. Research on the anti-rollover warning and control system for motor-vehicles of passenger transport[D]. Chongqing: Chongqing Jiaotong University, 2014 [13] 应文倩. 基于双MPC的半挂汽车列车侧翻控制系统的研究[D]. 南宁: 广西大学, 2019YING W Q. Research on rollover control system of semi trailer train based on double MPC[D]. Nanning: Guangxi University, 2019 (in Chinese) [14] 喻凡, 林逸. 汽车系统动力学[M]. 北京: 机械工业出版社, 2005YU F, LIN Y. Automotive system dynamics[M]. Beijing: Machinery Industry Press, 2005 (in Chinese) [15] 曾小华, 李广含, 宋大凤, 等. 轮毂液压混合动力商用车主动防侧翻控制[J]. 吉林大学学报(工学版), 2018, 48(1): 1-10 https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY201801001.htmZENG X H, LI G H, SONG D F, et al. Active anti-rollover control for hydraulic hub-motor hybrid system of heavy commercial vehicles[J]. Journal of Jilin University (Engineering and Technology Edition), 2018, 48(1): 1-10 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JLGY201801001.htm -
下载:
点击查看大图
图(12) / 表(1)
计量
- 文章访问数: 164
- HTML全文浏览量: 99
- PDF下载量: 20
- 被引次数: 0
