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为了研究半挂汽车列车横摆稳定性控制问题,以牵引车和半挂车的横摆角速度为控制目标,通过牵引车和半挂车的差动制动控制来改善整车的横摆稳定性。提出了基于约束加权最小二乘优化算法的制动力控制分配方案,实时优化协调分配各车轮的制动力,综合提高整车的横向稳定性。当制动器出现失效或部分失效时,控制系统实时调整控制效率矩阵,对剩余有效的制动器进行重构控制,最大程度地保证整车横摆稳定性,提高控制系统可靠性,并基于MATLAB/Simulink与TruckSim的联合仿真进行了开环操作试验分析。研究结果表明:所提出的控制方案能够综合提高半挂汽车列车的横向稳定性,且制动器失效时能够实现制动力的重构与再分配,保证了控制系统的可靠性。
In order to study the control problem of the stability of semi-trailer vehicle yaw, the yaw rate of tractor and semi-trailer is taken as the control target, and the yaw stability of the vehicle is improved by the differential braking control of tractor and semi-trailer. A control strategy of braking force distribution based on constrained weighted least square optimization algorithm was proposed. The braking force of each wheel was optimized and coordinated in real time to improve the lateral stability of the whole vehicle. When the brake fails or partially fails, the control system adjusts the control efficiency matrix in real time to reconstruct the remaining effective brakes to ensure the stability of the vehicle to the maximum extent and improve the control system reliability. Based on MATLAB / Simulink and TruckSim co-simulation of open-loop operation test analysis. The results show that the proposed control scheme can comprehensively improve the transverse stability of semitrailer trains, and the braking force can be reconstructed and re-distributed when the brakes fail to ensure the reliability of the control system.