半挂汽车侧翻预警及防侧翻控制研究

发布时间：2018-03-09 03:07

本文选题：半挂汽车　切入点：TTR预警　出处：《重庆理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着物流行业和高速公路的快速发展,半挂汽车以其运载量大、相对运输成本低等优点逐渐成为了公路运输的主要车型之一。但是由于半挂汽车质心位置较高、轮距相对于车身过窄等一系列特点,使其侧倾稳定性较差,极易发生侧翻危险,因此,如何及时告知驾驶员车辆的侧翻危险状态并对车辆的危险状况进行适时的控制,成为解决半挂汽车侧翻的有效途径。针对半挂汽车的侧翻稳定性问题,本文主要进行了以下几个方面的研究:首先,本文在阅读大量国内外文献的基础上对半挂汽车的侧翻稳定性机理以及影响侧翻稳定性的因素进行了分析,确定了提高半挂汽车侧倾稳定性的方法:一方面利用侧翻预警技术对驾驶员的危险驾驶行为进行提醒,以期通过驾驶员的操作来阻止侧翻危险的发生;另一方面利用主动防侧倾杆对驾驶员来不及做出有效操作的危险状况进行主动控制。其次,本文建立了可以反映半挂汽车横摆-侧倾运动的九自由度刚性车身半挂汽车列车预测模型,并利用专业仿真软件Trucksim进行了仿真验证。以建立的九自由度模型作为侧翻预警参考模型,以横向载荷转移率作为半挂汽车的侧翻指标,建立了可以超实时预测半挂汽车侧翻危险状态的TTR侧翻预警算法,通过在不同工况下的仿真验证了该预警算法的准确性。最后,为了减轻减驾驶员的操作负担并进一步提高车辆的侧倾稳定性,采用在半挂汽车车轴上加装主动防侧倾杆的方法来提高其侧倾稳定性,并利用扩展的线性二次型状态调节器产生最优的控制力矩,在双移线工况下进行了仿真分析,表明了该控制方法的有效性。针对连续性控制系统能耗大、寿命低的缺点,提出基于TTR预警的防侧翻控制策略,实现了间断性控制,并与连续性控制效果进行了对比,表明基于TTR预警的防侧翻控制策略不仅可以有效的提高半挂汽车的侧倾稳定性,而且节约了能耗,提高了防侧翻装置的寿命。
[Abstract]:With the rapid development of logistics industry and freeway, semi-trailer has gradually become one of the main types of highway transportation because of its advantages such as large transportation capacity and relatively low transportation cost, but because of the high centroid position of semi-trailer, Due to a series of characteristics such as too narrow wheel spacing and so on, the roll stability is poor and the rollover danger is easy to occur. Therefore, how to inform the driver of the rollover dangerous state in time and control the dangerous condition of the vehicle timely, As an effective way to solve the rollover problem of semi-trailer, this paper mainly studies the following aspects: first, On the basis of reading a large number of domestic and foreign literatures, this paper analyzes the mechanism of rollover stability of semitrailer and the factors affecting rollover stability. The methods to improve the roll stability of semi-trailer vehicle are determined as follows: on the one hand, the warning technology is used to warn the driver of dangerous driving behavior in order to prevent the rollover danger from happening through the driver's operation; On the other hand, the active anti-roll lever is used to control the dangerous situation of the driver who has no time to make effective operation. Secondly, In this paper, a prediction model of nine degrees of freedom (DOF) rigid body semi-trailer train is established, which can reflect the swing and roll motion of semi-trailer. The Nine degree of freedom model is used as the early warning reference model, and the lateral load transfer rate is used as the index of the roll over of the semi-trailer vehicle, which is verified by the professional simulation software Trucksim. A TTR rollover early warning algorithm which can predict the dangerous state of semi-trailer rollover in real time is established. The accuracy of the early warning algorithm is verified by simulation under different working conditions. In order to reduce the operating burden of the driver and further improve the roll stability of the vehicle, the active anti-roll rod was added to the axle of the semi-trailer to improve the roll stability. By using the extended linear quadratic state regulator to generate the optimal control torque, the simulation analysis is carried out under the condition of double moving line, which shows the effectiveness of the control method, aiming at the disadvantages of large energy consumption and low service life of the continuous control system. The anti-roll control strategy based on TTR early warning is put forward, and the intermittent control is realized, and compared with the effect of continuous control, it shows that the anti-roll control strategy based on TTR warning can not only effectively improve the roll stability of semi-trailer vehicle. Moreover, the energy consumption is saved and the life of the anti-roll device is improved.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U469.53

【共引文献】