Active Roll Control Algorithm of Heavy Tractor Semi-trailer Based on Global Gain Scheduling Control
Active Roll Control Algorithm of Heavy Tractor Semi-trailer Based on Global Gain Scheduling Control
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DOI：
10.3901/jme.2008.10.138
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发表时间：
2008
影响因子：
4.2
通讯作者：
Zong Changfu;Mai Li
中科院分区：
文献类型：
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作者：
Zong Changfu;Mai Li
重型半挂车容易发生侧翻事故，因此提高车辆的侧倾稳定性可以减少事故的发生和生命财产的损失。基于LQG/LTR的车辆侧倾稳定性控制，建立了全状态反馈控制器，并设计了部分LQG/LTR控制器。LTR反馈控制器能在各种车速情况下实现最佳控制，主动侧倾控制能在不受噪声干扰的情况下工作。并对标准横向载荷传递等参数进行了对比分析，车辆仿真结果表明，LQG/LTR在噪声干扰下工作良好，提高了系统的鲁棒性和稳定性，与被动车辆相比，全状态增益控制方法能有效提高重型半挂车的侧倾稳定性。
Roll-over crash tends to occur in the heavy tractor semi-trailer,therefore improving the vehicle's roll stability can reduce the occurrence of accidents and the losses of lives and property.The 8 DOF heavy tractor semi-trailer dynamic model is built with adjustable speed,based on LQG/LTR for the vehicle roll stability control.The full-state feedback controller is also established and the part LQG/LTR feedback controller can realize the best control in various speed situations,and the active roll control can work in spite of noise interference.The vehicle under the condition of variable speed step steering is simulated,and the parameters such as standard lateral load transfer are compared and analyzed.The simulation results of the vehicle show that the LQG/LTR works well in spite of noise interference,and can improve the robustness and stability of system.Comparing with passive vehicle,the full-state gain control method can effectively improve the roll stability of heavy tractor semi-trailer.