双挂汽车列车横向失稳机理分析及在环控制策略研究

发布时间：2018-03-21 02:46

本文选题：车辆动力学　切入点：双挂汽车列车　出处：《吉林大学》2017年博士论文　论文类型：学位论文

【摘要】：双挂汽车列车具有运输量大、效率高且成本低等优点,在国外得到了大量应用。随着我国物流运输的发展,甩挂运输必将成为未来运输的主要形式之一。一方面,汽车列车具有车身长、铰接点多、质心高等结构特点,存在易折叠、甩尾、蛇形和侧翻等典型失稳形式,易造成大量的交通事故,同时给道路上行驶的其它车辆带来安全隐患。另一方面,由于国内目前禁止双挂汽车列车在高速公路上行驶,所以对双挂汽车列车的研究相对较少,其相应的评价指标、失稳机理以及各种控制策略的选择与分析需要进一步的研究。因此,进行双挂汽车列车的横向稳定性和控制策略的研究,是涉及到交通安全及道路利用率的重大课题,研究双挂汽车列车在典型行驶工况下的失稳机理、相应主动控制策略和应用效果十分重要。针对双挂汽车列车在高速行驶中易出现的失稳形式,国内外相关研究机构及院校进行了大量研究。在上述研究基础上,本文对双挂汽车列车易出现的临界侧翻失稳和蛇形失稳的机理及控制策略进行研究。利用动力学模型构建、仿真及控制策略研究,解决了车辆易发生蛇形失稳的问题;通过多体动力学软件Truck Sim构建的非线性模型,确定了车辆临界侧翻的评价指标及侧翻顺序;并通过Truck Sim-Simulink的联合仿真控制,验证了主动转向的在环控制策略的有效性。具体的研究内容如下:建立包括侧向运动和横摆运动,以及各个车辆单元之间铰接角的双挂汽车列车系统动力学模型。通过对比普通车辆、半挂汽车列车和多挂汽车列车的操纵稳定性评价指标,确定双挂汽车列车的横向稳定性评价指标,即RWA和Off-tracking。根据动力学模型及评价指标,分别在阶跃、单移线及正弦工况下,进行车辆的动力学仿真分析,发现高速行驶中双挂汽车列车易出现蛇形失稳运动。利用多体动力学软件Truck Sim构造双挂汽车列车模型,并分别以基于评价指标和基于能量的方法,对双挂汽车列车的各个车辆单元侧翻发生的机理及顺序进行研究。通过对比不同车速下侧向加速度和轮胎垂直载荷的数值大小和发生临界侧翻的时间先后顺序,得到轮胎垂直载荷可更好的评价临界侧翻顺序,且得到各个车辆单元侧翻的先后顺序。应用图论方法预测各个车辆单元可能的失稳顺序,结合能量方程,对各个车辆单元总能量进行求解,用于各个失稳顺序的验证,并得到与评价指标下车辆的侧翻顺序相同的结论。为避免双挂汽车列车横向蛇形失稳,根据建立的车辆主动力矩模型和主动转向模型,对后部三个车辆单元进行主动控制。利用遗传算法优化LQR控制器,以横向稳定性评价指标RWA和质心侧偏角作为遗传算法的适应度函数控制目标,获取最优主动力矩和最优主动转向角度。通过对比控制前后的状态变量变化,验证主动制动和主动转向控制的效果。对比分析两种控制策略的响应时间、RWA值以及质心侧偏角,得到主动转向控制对提高双挂汽车列车蛇形稳定性的控制效果更好。为验证双挂汽车列车主动转向的控制效果,利用Truck Sim-Simulink进行联合仿真软件在环(SIL)控制。根据阿克曼转向原理确定各个车辆单元在转向时左、右车轮转角之间的关系。利用遗传算法优化的LQR控制器对线性车辆动力学模型进行控制,得到最优权重系数并进行调整,用于联合仿真的控制。通过对比控制前后Truck Sim中车辆的动画效果及车辆的状态变量变化,验证主动转向控制在软件在环中可提高双挂汽车列车的蛇形稳定性。根据相似模型理论,搭建汽车列车横向摆振台架试验台,并使用陀螺仪传感器、数显测力计、变频器等设备组成的测试系统。在汽车列车横向摆振台架试验台上对双挂汽车列车相似模型车进行试验,分析不同转角、不同频率和不同配重下单移线和蛇行输入工况的各状态变量变化,并进行信息采集。通过车辆状态参数的对比,确定巴特沃兹滤波器的抽样频率和阶数,并得到评价指标(横摆角速度),进而根据不同影响因素下的横摆角速度变化,评价其对双挂汽车列车横向稳定性的影响。双挂汽车列车侧翻机理的分析以及蛇形失稳的分析与在环控制策略研究是多挂汽车列车横向动力学分析的重要内容,为防止车辆临界侧翻的发生以及蛇形失稳预防提供了重要的理论依据和解决方案。同时,通过主动力矩和主动转向控制策略仿真结果对比,可为实际双挂汽车列车控制策略的选择提供参考。联合仿真的软件在环(SIL)控制更为实际应用奠定基础。
[Abstract]:Double car has a large transportation volume, high efficiency and low cost advantages, has been widely used in foreign countries. With the development of China's logistics and transport, transport will become one of the main forms of transportation. On the one hand, the auto train has long vehicle, articulated points, higher structural characteristics of centroid, easy folding, flick, serpentine and rollover typical instability, easy to cause a lot of traffic accidents, and other vehicles on the road to bring security risks. On the other hand, because the current domestic ban double car on the road on the highway, so the study of double car is relatively small, its corresponding evaluation the index, instability mechanism and various control strategies and analysis needs further study. Therefore, research on lateral stability and control strategy of double car train, is related to traffic safety And the road utilization rate of major task, double car driving mechanism of instability in typical working conditions, the corresponding active control strategy and the application effect is very important. For the double car at high speed in the form of instability, domestic and foreign research institutions and universities conducted a lot of research. Based on the above study on the critical rollover prone to double car instability and serpentine of instability mechanism and control strategy. Based on dynamics model of simulation and control strategy, to solve the vehicle is prone to instability of the snake; the nonlinear model constructed by multi-body dynamics software Truck Sim, the the evaluation index and rollover order critical vehicle rollover; and through the co simulation of Truck Sim-Simulink control, to verify the validity of the ring in the active steering control strategy. The specific research The contents are as follows: including the establishment of lateral motion and yaw motion, and between each vehicle unit hinge angle of double trailer train system dynamics model. By comparing the ordinary vehicles, semi-trailer train and car handling and stability evaluation index, evaluation index to determine the lateral stability of double car train, namely RWA and Off-tracking. according to the dynamic model and evaluation index, respectively, in the step, single lane and sinusoidal conditions, dynamic simulation analysis of the vehicle, found high speed double car prone to serpentine instability movement. Using multi-body dynamics software Truck Sim to construct double car model, and based on the evaluation index and based on the energy method, to study the mechanism of each unit vehicle rollover double trailer train occurrence and order. By comparing the different lateral acceleration and wheel speed Tire vertical load magnitude and the critical rollover time sequence, the evaluation of tire vertical load can be better and get the critical rollover order, the order of each vehicle rollover unit. By using the method of graph theory to predict the instability of each vehicle unit order, combined with the energy equation, to solve the total energy for each vehicle unit. Validate the instability of the order, and get the conclusion and evaluation index of vehicle rollover in the same order. In order to avoid the double car lateral serpentine instability, according to the established vehicle active torque model and active steering model, active control of the rear vehicle three units. By optimizing LQR controller by genetic algorithm, lateral stability the evaluation index RWA and sideslip angle as the fitness function of genetic algorithm to obtain the optimal control target, active torque and optimal active steering angle. The state variable changes before and after contrast control, verify the active braking and active steering control effect. Comparative analysis of the response time of two control strategies, RWA value and the sideslip angle, get active steering control to improve the control effect is better double car. In order to verify the stability of the snake control effect of double articulated vehicle active steering the United Simulation Software in the loop using Truck Sim-Simulink (SIL). According to the control principle of each vehicle in the steering unit to determine the relationship between Ackerman left, right wheel angle. To control the linear dynamic model of vehicle using LQR controller optimized by genetic algorithm, the optimal weighting coefficient and adjusted for control of CO simulation through the change of state variable contrast control before and after the vehicle Truck Sim animation and the vehicle active steering control in software verification In the ring can improve the stability of double serpentine trailer train. According to the similarity theory, set up the auto train transverse shimmy test bench, and using gyro sensor, digital dynamometer test system, inverter and other equipment components. In the vehicle transverse shimmy bench test bench of double car test similar models, analysis of different angles, different frequency and weight of single line and hunting input operating conditions of the state variables change, and collect information. By comparing the vehicle state parameters, determine the sampling frequency and order Butterworth filter, and the evaluation index (yaw rate), and then according to the different influencing factors the yaw rate changes, to evaluate its effect on double vehicle lateral stability of the train. Two car rollover mechanism analysis and serpentine instability analysis and loop control Strategy research is an important content of hanging analysis of vehicle lateral dynamics of the train, in order to prevent the occurrence of critical vehicle rollover and serpentine instability prevention provides an important theoretical basis and solutions. At the same time, through active torque and active steering control strategy simulation results can provide reference for the actual double car control strategy. The co simulation software in the loop (SIL) control to lay the foundation for practical application.

【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U469.54

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