汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (1): 50-56.doi: 10.19562/j.chinasae.qcgc.2019.01.008

• • 上一篇    下一篇

半挂式液罐车防侧翻控制策略开发*

赵伟强, 凌锦鹏, 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:2017-12-08 出版日期:2019-01-25 发布日期:2019-01-25
  • 通讯作者: 凌锦鹏,硕士研究生,E-mail:547924591@qq.com
  • 基金资助:
    *国家自然科学基金(51575224)和吉林省科技发展计划项目(20150204066GX)资助。

Development of Anti-rollover Control Strategy for Liquid Tank Semi-trailer

Zhao Weiqiang, Ling Jinpeng, Zong Changfu   

  1. Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130022
  • Received:2017-12-08 Online:2019-01-25 Published:2019-01-25

PDF (PC)

512

赞

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。

关键词: 半挂式液罐车, 防侧翻控制, 差动制动, 液体晃动, 等效单摆模型

Abstract: 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.

Key words: liquid tank semi-trailer, anti-rollover control, differential braking, liquid sloshing, equivalent simple pendulum model