基于动态LTR的客车防侧翻控制

发布时间：2018-03-02 05:12

本文关键词： 汽车工程防侧翻控制策略侧倾角刚度辨识动态LTR　出处：《中国公路学报》2016年09期 　论文类型：期刊论文

【摘要】：为提高客车在行驶过程中的防侧翻控制能力,提出了一种基于动态LTR的客车防侧翻控制策略。首先,为提高车辆模型的精度,在建立三自由度参考模型的基础上,利用TruckSim软件辨识不同载荷、不同车速和不同转向盘转角下模型的侧倾角刚度,为开发有效的防侧翻控制策略奠定基础。其次,考虑客车在实际行驶过程中横向载荷转移的时变性和传统固定LTR的局限性,借助TruckSim软件,计算不同载荷、不同车速和不同转向盘转角下的动态LTR来实现车辆动态特性的精确预测;为保证客车防侧翻控制策略运行的实时性,运用PID控制算法决策最优补偿横摆力矩,采用差动制动方法对客车进行防侧翻控制。最后,为验证防侧翻控制算法的有效性和准确性,搭建基于商用车电子制动系统的硬件在环试验台,通过选取典型测试工况对提出的客车防侧翻控制策略进行硬件在环验证。结果表明:在相同工况下,满载客车比空载客车更易发生侧翻;提出的客车防侧翻控制策略可以准确识别车辆的侧翻状态,弥补了采用传统固定LTR识别侧翻状态的不足;制动系统能迅速对客车进行防侧翻控制,在客车未发生侧翻的情况下,LTR值最大能减少32.5%,有效提高了客车的侧翻稳定性。
[Abstract]:In order to improve the anti-rollover control ability of passenger cars in the course of running, a strategy of anti-rollover control of passenger cars based on dynamic LTR is proposed. Firstly, in order to improve the accuracy of the vehicle model, a three-degree-of-freedom reference model is established. The TruckSim software is used to identify the lateral angle stiffness of the model under different loads, different speeds and different steering wheel angles, which lays a foundation for the development of an effective anti-roll control strategy. Considering the time variation of the lateral load transfer and the limitation of the traditional fixed LTR, the different loads are calculated with the help of the TruckSim software. Dynamic LTR with different speed and steering wheel angle is used to accurately predict the dynamic characteristics of the vehicle, and to ensure the real-time running of the anti-rollover control strategy, the PID control algorithm is used to make the optimal compensation for the yaw torque. In order to verify the effectiveness and accuracy of the anti-rollover control algorithm, a hardware in-the-loop test bed based on commercial vehicle electronic braking system is built. By selecting the typical test conditions, the hardware of the proposed control strategy is verified in the loop. The results show that the full-load passenger car is more prone to roll over than the no-load bus under the same working condition. The anti-rollover control strategy of bus can accurately identify the state of vehicle rollover, which makes up for the deficiency of using traditional fixed LTR to recognize the state of rollover, and the braking system can quickly control the rollover of passenger car. The maximum value of LTR can be reduced by 32.5 in the case of no rollover, which effectively improves the stability of the passenger car.
【作者单位】：吉林大学汽车仿真与控制国家重点实验室;
【基金】：国家自然科学基金项目(51575224) 吉林省科技发展计划项目(20150204066GX)
【分类号】：U461.6

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