融合遗传算法和递推最小二乘法的半挂车稳定性参数估计

doi:10.13229/j.cnki.jdxbgxb.20240800

Abstract

Abstract:

A combination of genetic algorithm and recursive least squares method was used to estimate the stability parameters of a semi-trailer， solving the problem that parameters such as tire cornering stiffness， vehicle roll stiffness and body roll damping are difficult to directly measure through sensors. In terms of adaptability to working conditions， the shortcomings of traditional offline identification methods are effectively made up for via this method. Compared with general commercial vehicles， semi-trailers have a more complex structure and diversified operating conditions. Therefore， in the process of ensuring vehicle safety and quality， greater attention must be paid to the stability control of semi-trailers. The prerequisite for achieving this goal is to establish a high-precision and high-confidence theoretical model of semi-trailer dynamics. On this basis，the theoretical model can be used as a following target， and the difference between the output state of the actual vehicle or commercial software vehicle model and the output state of the theoretical model is used as the control variable for adjustment. Joint simulation of Trucksim and Simulink is used in this paper to compare the output overlap between the Trucksim software model and the theoretical model under specific input and working conditions. Results show that the theoretical model established based on the parameters such as roll stiffness indentifled by the method proposed in this paper is superior to traditional offline identification method in terms of operating condition adaptability and accuracy， the estimation error is reduced by about 6%. This result lays the foundation for subsequent semi-traller stability control research based on this theoretical model.

Key words: vehicle engineering, semi-trailer stability, parameter estimation, genetic algorithm, recursive least squares method

CLC Number:

U461.6

Xiao-hua ZENG,Kai-xuan LI,Kai HAN,Ming-yao GONG,Yu-feng HUANG. Semi⁃trailer stability parameter estimation based on genetic algorithm and recursive least squares method[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(12): 3793-3803.

Figures/Tables 13

Fig.1

Fig.2

Fig.3

Table 1

Main structural parameters of the semi-trailer vehicle model"

参数名称	符号	数值	单位
牵引车总质量	$m 1$	6 762	$k g$
牵引车簧载质量	$m 1 s$	5 457	$k g$
挂车总质量	$m 2$	16 665	$k g$
挂车簧载质量	$m 2 s$	16 000	$k g$
牵引车质心到前轴距离	$d 1$	1.113	$m$
牵引车质心到后轴距离	$d 2$	2.387	$m$
挂车质心到铰接点距离	$d 3$	5.221	$m$
挂车质心到挂车轴距离	$d 4$	4.779	$m$
牵引车质心到铰接点距离	$d 5$	2.287	$m$
牵引车质心高度	$h 1$	1.173	$m$
挂车质心高度	$h 2$	1.935	$m$
铰接点距地面距离	$h c$	1.110	$m$
牵引车绕 $x$ 轴转动惯量	$I 1 x x$	2 287	$k g ? m 2$
挂车绕 $x$ 轴转动惯量	$I 2 x x$	25 350	$k g ? m 2$
牵引车绕 $z$ 轴转动惯量	$I 1 z z$	34 823	$k g ? m 2$
挂车绕 $z$ 轴转动惯量	$I 2 z z$	135 000	$k g ? m 2$
牵引车绕 $x$ 、 $z$ 轴惯量积	$I 1 x z$	1 626	$k g ? m 2$
挂车绕 $x$ 、 $z$ 轴惯量积	$I 2 x z$	0	$k g ? m 2$

Table 1

Fig.4

Fig.5

Table 2

Estimation results f stability parameters of semi-trailer o"

稳定性参数项	估计值
牵引车前轴轮胎等效侧偏刚度k₁/（N·rad^-1）	$- 2.96 × 105$
牵引车后轴轮胎等效侧偏刚度k₂/（N·rad^-1）	$- 5.74 × 105$
挂车轴轮胎等效侧偏刚度k₃/（N·rad^-1）	$- 6.51 × 105$
牵引车车身侧倾刚度k_r1/（N·m·rad^-1）	$2.07 × 104$
牵引车车身侧倾阻尼c₁/（N·m·s·rad^-1）	$3.62 × 105$
挂车车身侧倾刚度k_r2/（N·m·rad^-1）	$6.05 × 105$
挂车车身侧倾阻尼c₂/（N·m·s·rad^-1）	$3.49 × 105$
铰接点等效侧倾刚度k₁₂/（N·m·rad^-1）	$1.53 × 107$

Table 2

Fig.6

Fig.7

Fig.8

Fig.9

Table 3

Fig.10

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辨识方法	MSE均值
单一遗传算法离线辨识	0.196
带遗忘因子RLS融合辨识	0.077

Semi⁃trailer stability parameter estimation based on genetic algorithm and recursive least squares method

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