Improving roll stability of articulated heavy vehicles using active semi-trailer steering
Improving roll stability of articulated heavy vehicles using active semi-trailer steering
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DOI：
10.1080/00423110801958576
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发表时间：
2008-01-01
影响因子：
3.6
通讯作者：
Cebon, D.
中科院分区：
文献类型：
--
作者：
Cheng, C.;Cebon, D.
本文讨论了一种利用有源控制改善拖拉机半挂车横摇稳定性的最优线性二次控制算法。半挂车转向。该控制器将拖车后端相对于挂点(第5轮)路径的路径跟踪偏差和拖车重心(COG)的横向加速度的组合降至最低。首先，建立了拖拉机半挂车的线性车辆模型。然后引入了拖车转向控制的“虚拟驾驶员”模型，使拖车尾部的路径跟踪偏差最小。将挂车齿轮侧向加速度作为最优控制器的第二目标，以提高车辆的侧倾稳定性。采用线性车辆模型的卡尔曼滤波估计未知车辆状态。控制器所需的。仿真结果表明，半挂车转向最优控制可以在保持车尾轨迹跟踪和偏差在所有可接受的范围内的同时，显著提高车辆在瞬时操纵过程中的侧倾稳定性。
This paper discusses an optimal linear quadratic control algorithm to improve the roll stability of a tractor semi-trailer using active. semi-trailer steering. The controller minimises a combination of the path-tracking deviation of the trailer rear end relative to the path of the hitch point (5th wheel) and the lateral acceleration of trailer centre of gravity (CoG). First a linear vehicle model of tractor semi-trailer is constructed. Then a 'virtual driver' model for trailer steering control is introduced to minimise the path-tracking deviation of trailer rear end. The lateral acceleration of trailer CoG is included as a second objective of the optimal controller so as to improve roll stability. A Kalman filter with linear vehicle model is used to estimate unknown vehicle states. needed by the controller. Simulation results show that optimal control of semi-trailer steering could improve the roll stability significantly during transient manoeuvres while keeping the path-tracking, deviation of trailer rear end within all acceptable range.