基于相平面分区的半挂液罐车稳定性控制
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摘要
为研究半挂液罐车在液体晃动情况下的稳定性控制问题,根据等效原则,建立液体晃动的等效模型,并结合半挂车的刚体模型,建立半挂液罐车非线性动力学模型。选择牵引车横摆角速度作为控制变量,在相平面内判断车辆处于"不足-过度转向"的强弱程度,并结合铰接角判断车辆的运行工况,考虑偏差零态为保持态时,设计了相平面分区九态控制器,通过差动制动实现附加横摆力矩控制车辆的稳定性。仿真结果表明:基于相平面分区控制的方法可以有效抑制液体晃动对车辆的影响,提高半挂液罐车的行驶稳定性,避免侧翻、摆振和折叠事故的发生。
To research the stability control problem of liquid tank semi-trailer with liquid sloshing,According to the equivalence principle,the equivalent model of liquid sloshing is built. Combining with the rigid body model of semi-trailer,the nonlinear dynamic model of liquid tank semi-trailer is established. Taking tractor yaw rate as the control variable,the degree of the vehicle's understeering and oversteering are judged in the phase plane,and vehicle's driving condition is judged combining with hinge angle. Considering deviation zero state as maintain state,the nine-state controller for phase plane division is designed,and the additional yawing moment is applied using differential brake to control vehicle stability. The simulation result shows that using the control method based on phase plane division,the influence of liquid sloshing on the whole vehicle can be effectively restrained,the driving stability of liquid tank semi-trailer can be improved, and the accidents of roll,shimmy and folding can be avoided.
To research the stability control problem of liquid tank semi-trailer with liquid sloshing,According to the equivalence principle,the equivalent model of liquid sloshing is built. Combining with the rigid body model of semi-trailer,the nonlinear dynamic model of liquid tank semi-trailer is established. Taking tractor yaw rate as the control variable,the degree of the vehicle's understeering and oversteering are judged in the phase plane,and vehicle's driving condition is judged combining with hinge angle. Considering deviation zero state as maintain state,the nine-state controller for phase plane division is designed,and the additional yawing moment is applied using differential brake to control vehicle stability. The simulation result shows that using the control method based on phase plane division,the influence of liquid sloshing on the whole vehicle can be effectively restrained,the driving stability of liquid tank semi-trailer can be improved, and the accidents of roll,shimmy and folding can be avoided.
引文
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[14]杨秀建,李耀平,熊坚.半挂汽车列车横向稳定性与失稳机理分析[J].汽车工程,2011,33(6):486-492.YANG Xiu-jian,LI Yao-ping,XIONG Jian.Analysis on the Lateral Stability and Instability Mechanism of Tractorsemitrailer Combination[J].Automotive Engineering,2011,33(6):486-492.
[15]虞明远,李世武,解晓玲,等.道路危险货物运输监管过程分析及对策研究[J].公路交通科技,2010,27(8):155-158.YU Ming-yuan,LI Shi-wu,XIE Xiao-ling,et al.Analysis of Supervising Process of Road Hazardous Freight Transport and Countermeasures[J].Journal of Highway and Transportation Research and Development,2010,27(8):155-158.
[2]HAC A,FULK D,CHEN H.Stability and Control Considerations of Vehicle-trailer Combination[J].SAE International Journal of Passenger Cars-Mechanical Systems,2009,1(1):925-937.
[3]宗长富,朱天军,麦莉,等.基于全局增益调度控制的重型半挂车主动侧倾控制算法[J].机械工程学报,2008,44(10):138-144.ZONG Chang-fu,ZHU Tian-jun,MAI Li,et al.Active Roll Control Algorithm of Heavy Tractor Semi-trailer Based on Global Gain Scheduling Control[J].Chinese Journal of Mechanical Engineering,2008,44(10):138-144.
[4]于志新,宗长富,何磊,等.基于LQR的重型半挂汽车列车稳定性控制策略[J].中国公路学报,2011,24(2):114-119.YU Zhi-xin,ZONG Chang-fu,HE Lei,et al.Stability Control Strategy for Heavy Semi-trailer Train Based on Linear Quadratic Regulator[J].China Journal of Highway and Transport,2011,24(2):114-119.
[5]岳宝增,祝乐梅,于丹.储液罐动力学与控制研究进展[J].力学进展,2011,41(1):79-92.YUE Bao-zeng,ZHU Le-mei,YU Dan.Recent Advances in Liquid-filled Tank Dynamics and Control[J].Advances in Mechanics,2011,41(1):79-92.
[6]程选生,杜永峰.弹性壁板下钢筋混凝土矩形贮液结构的液动压力[J].工程力学,2009,26(6):82-88.CHENG Xuan-sheng,DU Yong-feng.Dynamic Fluid Pressure of Reinforced Concrete Rectangular Liquid-storage Tanks with Elastic Walls[J].Engineering Mechanics,2009,26(6):82-88.
[7]DJAVARESHKIAN H,KHALILI M.Simulation of Sloshing with the Volume of Fluid Method[J].Fluid Dynamics&Materials Processing,2006,2(4):299-308.
[8]刘奎,康宁.罐车转向时液体晃动的仿真分析[J].北京航空航天大学学报,2009,35(11):1403-1407.LIU Kui,KANG Ning.Simulation of Liquid Slosh in Turning Process of Tank Truck[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(11):1403-1407.
[9]刘小民,许运宾.部分充液罐车动力学特性的数值模拟与分析[J].西安交通大学学报,2011,45(6):116-123.LIU Xiao-min,XU Yun-bin.Numerical Simulation for Dynamic Analysis of a Moving Truck with Partially Filled Liquid Tank[J].Journal of Xi'an Jiaotong University,2011,45(6):116-123.
[10]王照林,刘延柱.充液系统动力学[M].北京:科学出版社,2002.WANG Zhao-lin,LIU Yan-zhu.Filling System Dynamics[M].Beijing:Science Press,2002.
[11]胡晓明,李万莉,朱为国,等.半挂液罐车的避障运动仿真分析[J].公路交通科技,2013,30(7):151-158.HU Xiao-ming,LI Wan-li,ZHU Wei-Guo,et al.Simulation of Obstacle Avoidance Motion of Liquid Tank Semi-trailer[J].Journal of Highway and Transportation Research and Developmen,2013,30(7):151-158.
[12]KIENCKE U,NIELSEN L.Automotive Control Systems:For Engine,Driveline,and Vehicle[M].Berlin:Springer,2005.
[13]盖晓华,刘叔军.一种新的相平面分区控制器的分析与仿真[J].计算机仿真,2009,26(7):208-211,297.GAI Xiao-hua,LIU Shu-jun.Analysis and Simulation of Two-step Phase Plane Division Control[J].Computer Simulation,2009,26(7):208-211,297.
[14]杨秀建,李耀平,熊坚.半挂汽车列车横向稳定性与失稳机理分析[J].汽车工程,2011,33(6):486-492.YANG Xiu-jian,LI Yao-ping,XIONG Jian.Analysis on the Lateral Stability and Instability Mechanism of Tractorsemitrailer Combination[J].Automotive Engineering,2011,33(6):486-492.
[15]虞明远,李世武,解晓玲,等.道路危险货物运输监管过程分析及对策研究[J].公路交通科技,2010,27(8):155-158.YU Ming-yuan,LI Shi-wu,XIE Xiao-ling,et al.Analysis of Supervising Process of Road Hazardous Freight Transport and Countermeasures[J].Journal of Highway and Transportation Research and Development,2010,27(8):155-158.