寒区危险路段半挂汽车列车横向稳定性控制策略

doi:10.13229/j.cnki.jdxbgxb.20221059

摘要/Abstract

摘要：

针对半挂汽车列车在寒区山地公路危险路段行驶会发生折叠、甩尾和侧翻的问题，以国内某款半挂汽车列车为研究对象，基于汽车动力学理论建立六自由度半挂汽车列车动力学数学模型；运用Truck-sim完成半挂汽车列车整车模型和危险路段模型的建立，依据半挂汽车列车发生侧翻和横摆失稳的原理，确定了半挂汽车列车侧翻和横摆失稳的判定条件。以半挂汽车列车的理想状态参数和实际状态参数的差值为控制目标，借助Simulink建立了基于线性二次型调节器（LQR）控制算法和差动制动的半挂汽车列车防侧翻和横摆失稳控制策略；选取哈牡高速公路较为典型的危险路段，改变路面附着系数对应不同实际情况下的路面，通过Truck-sim与Simulink联合仿真进行场景重构，对本文控制策略进行仿真试验。结果表明：在哈牡高速公路K398-K406段S形弯道公路上，路面附着系数为0.1、0.25和0.35时，能够实现牵引车侧倾角最大值减小0.05°、0.04°和0.1°，半挂车侧倾角最大值减小0.04°、0.01°和0.1°，路面附着系数为0.35时，减小幅度最大，分别为40%和23.26%。在哈牡高速公路K273-K274段弯坡路上，路面附着系数为0.1时，控制策略有效阻止了车辆的侧翻，路面附着系数为0.25和0.35时，控制策略下侧倾角最大值减小0.04°和0.02°，对应减小幅度为16%和3.92%。控制策略能够有效降低牵引车和半挂车侧向加速度、横摆角速度及侧倾角的峰值，对侧倾角的控制尤为明显，可以避免冰雪天气下半挂汽车列车行驶在弯坡路时出现侧翻等危险事故。

关键词: 汽车工程, 半挂汽车列车, 寒区危险路段, 横向稳定性, 控制策略

Abstract:

Aiming at the problems of folding， tail-flicking and rollover of the semi-trailer train in the dangerous section of the mountain highway in the cold area， taking a domestic semi-trailer train as the research object， the dynamic mathematics of the six-degree-of-freedom semi-trailer train is established based on the vehicle dynamics theory model. Using Truck-sim to complete the establishment of the semi-trailer train vehicle model and dangerous road section model， according to the principle of semi-trailer train rollover and yaw instability， determine the judgment conditions for semi-trailer train rollover and yaw instability. Taking the difference between the ideal state parameters and the actual state parameters of the semi-trailer train as the control target， a control strategy for the anti-rollover and yaw instability of the semi-trailer train based on the tinear quadratic regutator （LQR） control algorithm and differential braking is established with the help of Simulink. For a typical dangerous section of the expressway， changing the road adhesion coefficient corresponds to the road surface under different actual conditions. The scene reconstruction is completed by the co-simulation of Truck-sim and Simulink， and the simulation test of the proposed control strategy is carried out. The results show that： on the S-shaped curve of the K398-K406 section of the Hamu Expressway， when the road adhesion coefficients is 0.1， 0.25 and 0.35， the maximum value of the tractor roll angle can be reduced by 0.05°， 0.04° and 0.1 °. The maximum value of the trailer roll angle decreases by 0.04°， 0.01° and 0.1°. When the road adhesion coefficient is 0.35， the decrease range is the largest， which are 40% and 23.26% respectively. On the curved slope of the K273-K274 section of Hamu Expressway， when the road adhesion coefficient is 0.1， the control strategy effectively prevents the vehicle from rolling over. When the road adhesion coefficient is 0.25 and 0.35， the maximum value of the roll angle is reduced by 0.04° and 0.02° under the control strategy， corresponding to reductions of 16% and 3.92%. The control strategy can effectively reduce the peak value of lateral acceleration， yaw rate and roll angle of the tractor and semi-trailer， especially for the control of roll angle， which can avoid the danger of rolling over when the semi-trailer train is towed on the curved road in icy and snowy weather.

Key words: vehicle engineering, semi-trailer train, dangerous sections in cold area, lateral stability, control strategy

中图分类号:

U461.6

都雪静,王宁,张杰,裴玉龙. 寒区危险路段半挂汽车列车横向稳定性控制策略[J]. 吉林大学学报(工学版), 2024, 54(4): 996-1006.

Xue-jing DU,Ning WANG,Jie ZHANG,Yu-long PEI. Control strategy of lateral stability of semi-trailer train in dangerous section of cold area[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(4): 996-1006.

图/表 14

图1

表1

半挂汽车列车防侧翻控制策略中目标车轮的选择"

横向载荷转移率	侧翻方向	是否有侧翻危险	牵引车目标车轮	挂车目标车轮
$L T R > 0$	左	是	1和3	5
$L T R > 0$	左	否	不制动	不制动
$L T R > 0$	右	是	2和4	6
$L T R > 0$	右	否	不制动	不制动

表1

表2

半挂汽车列车防侧滑控制策略中目标车轮的选择"

牵引车横摆角速度	与理想横摆角速度的比较	牵引车目标车轮	挂车横摆角速度	与理想横摆角速度的比较	挂车目标车轮
$ω 1 > 0$	$ω 1 s < ω 1$	2和4	$ω 2 > 0$	$ω 2 s < ω 2$	6
$ω 1 > 0$	$ω 1 s > ω 1$	1和3	$ω 2 > 0$	$ω 2 s > ω 2$	5
$ω 1 < 0$	$ω 1 s < ω 1$	2和4	$ω 2 < 0$	$ω 2 s < ω 2$	6
$ω 1 < 0$	$ω 1 s > ω 1$	1和3	$ω 2 < 0$	$ω 2 s > ω 2$	5
$ω 1 = 0$	$ω 1 s < ω 1$	2和4	$ω 2 = 0$	$ω 2 s < ω 2$	6
$ω 1 = 0$	$ω 1 s > ω 1$	1和3	$ω 2 = 0$	$ω 2 s > ω 2$	5

表2

表3

半挂汽车列车关键参数"

参数名称	符号	参数值
牵引车总质量/kg	$m 1$	8 805
挂车总质量/kg	$m 21$	40 000
牵引车尺寸/m	$l a + w a + h a$	7.05+2.55+3.46
挂车尺寸/m	$l b + w b + h b$	13+2.5+3.65
牵引车轴距/m	$l 1 + l 2$	3.450+1.35
挂车轴距/m	$l 3 + l 4 + l 5$	6.38+1.31+1.31
挂车车轮轮距/m	$l t$	1.84
载荷质量/kg	$m g$	33 200
货物质心距地面高度/m	$h g$	2.285

表3

图2

图3

图4

图5

图6

图7

图8

图9

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图11

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