基于参数辨识的半挂汽车列车侧翻控制系统的研究-车辆工程专业论文.docxVIP

危险进行预测；并且制定了差动制动控制策略下目标车轮的选择规则和制 危险进行预测；并且制定了差动制动控制策略下目标车轮的选择规则和制 动力分配原则。最后，利用MATLAB／Simulink搭建了整车侧翻控制系统模 型，并联合TruckSim软件，在鱼钩工况和高、低附双移线工况这三个极限 工况下进行仿真试验。结果表明：所建立的整车侧翻控制系统能有效对半 挂汽车列车进行侧翻控制，避免发生侧翻、横摆和折叠危险事故，提高了 半挂汽车列车行驶稳定性和安全性。 关键词：半挂汽车列车参数辨识侧翻控制差动制动LQR 万方数据 RESEARCH RESEARCH ON ROLLOVER CONTROL SYSTEM OF SEMI．TRAILER TRAIN BASED ON PARAMETER IDENTIFICATION ABSTRACT Semi．trailer train is composed of tractor and semi-trailer．Comparing with the general truck，it has the advantages of large load capacity of carrying，high efficiency,low operation cost and the better effect of energy saving，SO it has been widely used．But because of its high center of gravity,great weight，large volume and the coupling interaction between tractor and trailer,its rollover, folding and other maj or traffic accidents are easily to occur,resulting in heavy losses of life and property especially the rollover accident．Therefore，it is very necessary to control the rollover of semi—trailer train SO as to improve its traveling stability． In order to improve the rollover stability of semi-trailer train，this paper focused on the study of vehicle rollover control system．It mainly researched on the model establishment of semi—trailer train，the model parameter identification and the rollover control system establishment： First of all，according to the need of the stability control of semi-trailer train，the dynamic model that involving the motion of yaw,lateral and rollover was establi shed based on the vehicle dynamic theory． Secondly,aiming at the problem that the model parameters of semi trailer train were difficult to identify because of its complicated structure and much parameters，this paper relied on the simulation data under angular step condition in TruckSim，and then put forward a two—step identification method which combining the genetic algorithm and L-M optimization algorithm to identify the eight key parameters which were difficult to measured directly,such as tire III 万方数据 cornering cornerin