吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (1): 30-35.doi: 10.13229/j.cnki.jdxbgxb20161417

• 论文 • 上一篇    下一篇

基于等效晃动模型的液罐车防侧翻控制策略

赵伟强, 封冉, 宗长富   

  1. 吉林大学 汽车仿真与控制国家重点实验室,长春 130022
  • 收稿日期:2016-12-30 出版日期:2018-02-26 发布日期:2018-02-26
  • 通讯作者: 宗长富(1962-),男,教授,博士生导师.研究方向:汽车动态仿真与控制.E-mail:zongcf@jlu.edu.cn
  • 作者简介:赵伟强(1977-),男,副教授,博士.研究方向:汽车动态仿真与控制.E-mail: zwqjlu@163.com
  • 基金资助:
    国家自然科学基金项目(51575224)

Anti-rollover control strategy of tank trucks based on equivalent sloshing model

ZHAO Wei-qiang, FENG Ran, ZONG Chang-fu   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2016-12-30 Online:2018-02-26 Published:2018-02-26

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摘要： 为提高公路液罐车行驶稳定性,减少由其侧翻引起的事故,将液罐内液体货物的晃动等效为单摆运动,结合3自由度车辆模型建立了液罐车等效晃动动力学模型,并提出了基于差动制动的液罐车防侧翻控制策略。通过Trucksim/Simulink联合仿真,比较了不同车速、阶跃工况下,装载等质量的液体货物与固体货物的液罐车的状态变量数值大小,由此证明液体晃动对车辆运动的影响;比较了液罐车在阶跃工况与鱼钩工况下有、无主动控制情况时的状态变量值,证明了本文防侧翻控制策略的有效性。

关键词: 车辆工程, 液罐车, 等效晃动模型, 液体冲击, 防侧翻控制

Abstract: In order to improve the stability of tank trucks, which can cause serious casualties, economic losses and environmental pollution because of vehicle-liquid coupling, an equivalent sloshing dynamics model of the tank trucks is established. This model consists of 3 DOF vehicle model and the equivalent pendulum model, which represents the movement of the liquid in the tank. Further, the anti-rollover control strategy of the tank trucks based on differential breaking is proposed. The Trucksim/Simulink co-simulation is carried out. Comparison of the state variables of the tank trucks with the same liquid cargo and solid cargo, and selected step condition, proves that the liquid sloshing in the tank influences the motion of the truck. Also it is demonstrated that the anti-rollover strategy is effective by comparing the states of tank trucks with or without control under the step condition and the hook condition.

Key words: vehicle engineering, tank trucks, equivalent sloshing model, liquid sloshing, anti-rollover control

中图分类号: 

  • U461.6
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