半挂式液罐车防侧翻控制策略开发
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摘要
针对罐内液体晃动与车辆运动之间的耦合作用导致半挂式液罐车侧倾稳定性低,易发生侧翻等问题,本文中提出了半挂式液罐车的防侧翻控制策略。采用等效单摆模型模拟罐内液体晃动的动态过程,并进行参数辨识,进而建立了半挂式液罐车整车动力学仿真模型。基于半挂式液罐车6自由度线性简化模型设计了LQR防侧翻状态反馈控制器,并通过差动制动产生附加横摆力矩。利用所建立的半挂式液罐车仿真模型进行仿真,对比了有、无控制的转向盘转角阶跃工况状态响应。结果表明,所建控制策略可有效防止半挂式液罐车侧翻。
In view of the problem that the coupling between liquid sloshing in the tank and vehicle movement results in the low rolling stability and the proneness to rollover of liquid tank semi-trailer( LTST),an anti-rollover control strategy for LTST is proposed in this paper. An equivalent simple pendulum model is adopted to simulate the dynamic process of liquid sloshing in the tank,its parameters are identified,and a dynamic simulation model for LTST is established. Based on the 6 DOF linear simplified model for LTST,a LQR anti-rollover state feedback controller is designed and the additional yaw moment is generated by using differential braking. A simulation is conducted with the simulation model for LTST to compare the state responses under the step condition of the turning angle of steering wheel with and without control. The results show that the control strategy proposed can effectively prevent LTST from rollover.
In view of the problem that the coupling between liquid sloshing in the tank and vehicle movement results in the low rolling stability and the proneness to rollover of liquid tank semi-trailer( LTST),an anti-rollover control strategy for LTST is proposed in this paper. An equivalent simple pendulum model is adopted to simulate the dynamic process of liquid sloshing in the tank,its parameters are identified,and a dynamic simulation model for LTST is established. Based on the 6 DOF linear simplified model for LTST,a LQR anti-rollover state feedback controller is designed and the additional yaw moment is generated by using differential braking. A simulation is conducted with the simulation model for LTST to compare the state responses under the step condition of the turning angle of steering wheel with and without control. The results show that the control strategy proposed can effectively prevent LTST from rollover.
引文
[1]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.
[2]于迪,李显生,刘宏飞,等.非满载液罐车侧倾稳定性模型研究[J].湖南大学学报(自然科学版),2016,43(8):40-44.
[3] FEIZI M M,REZVANI M A. Design of LQR controller for active suspension system of partially filled tank cars[J]. Structural Engineering&Mechanics,2014,49(49):329-353.
[4] ACARMAN T,OZGUNER U. Rollover prevention for heavy trucks using frequency shaped sliding mode control[J]. Vehicle System Dynamics,2006,44(10):737-762.
[5]刘静.液罐车防侧翻姿态控制与报警策略仿真分析[D].南京:南京林业大学,2009.
[6]胡晓明,赵志国.基于相平面分区的半挂液罐车稳定性控制[J].公路交通科技,2015,32(12):151-158.
[7]万滢,赵伟强,封冉,等.车-液耦合动力学建模及液体响应成分对操纵性的影响[J].吉林大学学报(工学版),2017,47(2):353-364.
[8]徐延海.基于主动转向技术的汽车防侧翻控制的研究[J].汽车工程,2005,27(5):518-521.
[9]赵健,郭俐彤,朱冰,等.基于底盘集成控制的轻型汽车防侧翻控制[J].汽车工程,2014,36(3):334-339.
[10]徐中明,于海兴,贺岩松,等. SUV车辆差动制动防侧翻控制研究[J].汽车工程,2014,36(5):566-572.
[11]聂枝根,宗长富.重型半挂车简化模型参数辨识研究[J].汽车工程,2015,37(6):622-630.
[2]于迪,李显生,刘宏飞,等.非满载液罐车侧倾稳定性模型研究[J].湖南大学学报(自然科学版),2016,43(8):40-44.
[3] FEIZI M M,REZVANI M A. Design of LQR controller for active suspension system of partially filled tank cars[J]. Structural Engineering&Mechanics,2014,49(49):329-353.
[4] ACARMAN T,OZGUNER U. Rollover prevention for heavy trucks using frequency shaped sliding mode control[J]. Vehicle System Dynamics,2006,44(10):737-762.
[5]刘静.液罐车防侧翻姿态控制与报警策略仿真分析[D].南京:南京林业大学,2009.
[6]胡晓明,赵志国.基于相平面分区的半挂液罐车稳定性控制[J].公路交通科技,2015,32(12):151-158.
[7]万滢,赵伟强,封冉,等.车-液耦合动力学建模及液体响应成分对操纵性的影响[J].吉林大学学报(工学版),2017,47(2):353-364.
[8]徐延海.基于主动转向技术的汽车防侧翻控制的研究[J].汽车工程,2005,27(5):518-521.
[9]赵健,郭俐彤,朱冰,等.基于底盘集成控制的轻型汽车防侧翻控制[J].汽车工程,2014,36(3):334-339.
[10]徐中明,于海兴,贺岩松,等. SUV车辆差动制动防侧翻控制研究[J].汽车工程,2014,36(5):566-572.
[11]聂枝根,宗长富.重型半挂车简化模型参数辨识研究[J].汽车工程,2015,37(6):622-630.