基于硬件在环的双挂汽车列车高速横向稳定性控制研究*

doi:10.16731/j.cnki.1671-3133.2024.03.011

现代制造工程 ›› 2024, Vol. 522 ›› Issue (3): 79-88.doi: 10.16731/j.cnki.1671-3133.2024.03.011

基于硬件在环的双挂汽车列车高速横向稳定性控制研究^*

曹艺凡¹, 邓召文^1,2,3, 高伟^1,3, 孔昕昕¹, 王保华^1,4

1 湖北汽车工业学院汽车工程学院,十堰 442002;
2 湖北汽车工业学院汽车工程师学院,十堰 442002;
3 南京航空航天大学能源与动力学院,南京 210016;
4 湖北隆中实验室,襄阳 441000

收稿日期:2023-05-10 出版日期:2024-03-18 发布日期:2024-05-31
通讯作者: 邓召文,博士研究生,副教授,主要从事汽车动力学仿真与控制研究工作。E-mail:dengzhaowen1@163.com
作者简介:曹艺凡,硕士研究生,主要从事智能驾驶与主动安全研究工作。高伟,博士研究生,副教授,主要从事汽车动力学仿真与控制等方面的研究工作。孔昕昕,硕士研究生,主要从事智能驾驶与主动安全研究工作。王保华,博士,教授,主要从事新能源汽车、汽车智能控制研究工作。E-mail:17803821885@163.com
基金资助:
* 国家自然科学基金项目(52072116);湖北省自然基金项目(2023AFB985);湖北省教育厅科研项目(B2021143,B2021144) ;襄阳市科技计划湖北隆中实验室专项项目

Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

CAO Yifan¹, DENG Zhaowen^1,2,3, GAO Wei^1,3, KONG Xinxin¹, WANG Baohua^1,4

1 College of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China;
2 Institute of Automotive Engineers,Hubei University of Automotive Technology,Shiyan,442002,China;
3 College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China;
4 Hubei Longzhong Laboratory,Xiangyang 441000,China

Received:2023-05-10 Online:2024-03-18 Published:2024-05-31

摘要/Abstract

摘要： 针对双挂汽车列车在高速超车工况的横向失稳、挂车折叠和甩尾等危险情况,提出了一种基于模糊比例、积分、微分(Proportion、Integral、Differential,PID)控制的直接横摆力矩差动制动控制策略,分别以双挂汽车列车TruckSim非线性模型与四自由度线性模型的质心侧偏角、横摆角速度的偏差及其偏差变化率为目标,设计了2种差动制动的横向稳定性控制策略,分别为仅牵引车控制的单控模式和牵引车加挂车都控制的多控模式,通过MATLAB/Simulink软件和TruckSim软件联合仿真以及硬件在环(Hardware-in-the-Loop,HIL)平台对控制策略的有效性进行仿真验证。结果表明:在高速超车工况下,相较于无控制车辆和单控模式车辆,多控模式车辆的横向稳定性控制系统更能降低车辆的质心侧偏角、横摆角速度、铰接角和车辆后部放大(Rearward Amplification,RWA)系数,在改善双挂汽车列车横向稳定性方面优势明显。

关键词: 双挂汽车列车, 直接横摆力矩控制, 差动制动, 模糊比例、积分、微分控制, 硬件在环验证

Abstract: A direct yaw moment differential braking control strategy based on fuzzy Proportion、Integral、Differential (PID) control is proposed for the dangerous situation of double-trailer train under high-speed overtaking condition, such as lateral instability, trailer folding and tail-throwing. Two kinds of lateral stability control strategies for differential braking were designed, namely single-control mode controlled only by tractor and multi-control mode controlled by both tractor and trailer, aiming at the lateral deflection angle and yaw velocity deviation and deviation change rate of the TruckSim nonlinear model and the four-degree-of-freedom linear model respectively. The effectiveness of the control strategy was verified through the co-simulation of MATLAB/Simulink software and TruckSim software and the Hardware-in-the-Loop (HIL) platform. The results show that, in high-speed overtaking conditions, the lateral stability control system of multi-control vehicles is better able to reduce the lateral declination angle, yaw speed, articulated angle and Rearward Amplification (RWA) coefficient of the vehicle than that of uncontrolled vehicles and single-control vehicles, and is significantly better in improving the lateral stability of double-truck trains.

Key words: double-truck train, direct yaw moment control, differential braking, fuzzy Proportion、Integral、Differential (PID) control, hardware-in-the-loop validation

中图分类号:

U469.5

曹艺凡, 邓召文, 高伟, 孔昕昕, 王保华. 基于硬件在环的双挂汽车列车高速横向稳定性控制研究^*[J]. 现代制造工程, 2024, 522(3): 79-88.

CAO Yifan, DENG Zhaowen, GAO Wei, KONG Xinxin, WANG Baohua. Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop[J]. Modern Manufacturing Engineering, 2024, 522(3): 79-88.

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基于硬件在环的双挂汽车列车高速横向稳定性控制研究^*

Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

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