模式切换的中高速重型半挂车挂车主动转向控制策略

为实现中高速不同工况下的重型半挂车稳定性控制,在建立线性变参数三自由度实时简化模型基础上,提出了基于挂车主动转向并采用模式切换的中高速重型半挂车控制策略。针对中高速重型半挂车工况变化,采用模式切换的方法实现了普通工况下的横摆、折叠和路径跟随控制以及极限工况下的侧翻控制。为实现重型半挂车中高速各工况最优控制,采用遗传粒子群算法和不同模式对应的优化目标函数,优化了控制策略权重系数。并且进行了模式切换的中高速挂车主动转向控制策略仿真研究,结果表明控制策略实现了重型半挂车从低附到高附,从普通工况到极限工况的中高速各工况良好地控制。

The active trailer steering strategy for articulated heavy vehicles based on modes switching in medium/high speed conditions

In order to achieve optimal control of articulated heavy vehicles under medium/high speed uncertain conditions, an active trailer steering strategy for articulated heavy vehicles based on mode switching in medium/high speed conditions is presented based on the linear variable real-time parameters simplified model. The active trailer steering strategy is based on trailer active steering. According to different medium/high speed conditions, the different control modes are used to control in the strategy. The aims, which are to control vehicle rollover under the limit condition and to achieve the good path follow,yaw and jackknife stability under the normal working condition, are obtained. In order to obtain the optimal control effect for the different control objectives, the optimal weight coefficients,which are suitable for different control modes, are obtained by the genetic particle swarm optimization algorithm. Simulation study is operated and simulation results indicate that:from low adhesion to high adhesion, from normal working condition to limit working condition, the proposed strategy can achieve good control in medium/high speed conditions.