拖挂式房车横向稳定性控制
Research on lateral stability control of trailer-mounted recreational vehicle
王振宇 1韩承敏 1冯向波 2张泽轩 1苗立东1
作者信息
- 1. 山东理工大学 交通与车辆工程学院,山东 淄博 255000
- 2. 潍坊埃锐制动系统有限公司,山东 潍坊 261000
- 折叠
摘要
为了确保拖挂式房车制动时的横向稳定性,制定了以横摆角速度为控制目标的差动制动控制策略.考虑电磁制动器的机电耦合特性,建立了拖挂式房车动力学模型,设计了基于模糊PID的控制算法获取附加横摆力矩,采用合理的制动力矩分配策略,实现拖挂式房车行驶时具有良好的横向稳定性.在TruckSim/Simulink联合仿真模型中进行了计算机软件仿真,并且设计控制器样机完成了实车道路试验验证.仿真和实车试验结果均表明,提出的控制策略能保证拖挂式房车在行驶过程中有良好的横向制动稳定性.实车试验结果表明,控制前后车辆的横摆阻尼分别为0.172 5 与0.288 6,铰接角的振动幅值明显减少,改善了车辆在行驶时的横向稳定性.
Abstract
To ensure the lateral stability of trailer-mounted Recreational Vehicle(RV)braking,we develop a differential braking control strategy with yaw velocity as the control target.Considering the electromechanical coupling characteristics of the electromagnetic brake,we build a dynamic model of the trailer-mounted RV and design a control algorithm based on fuzzy PID to obtain additional yaw torque.A reasonable braking torque distribution strategy is adopted to achieve good lateral stability of the trailer-mounted RV.Simulations are conducted in the TruckSim/Simulink co-simulation model and the designed controller prototype performs test verification on a real vehicle.Both our simulations and test results show our strategy maintains fairly good lateral braking stability.Moreover,the yaw damping of the vehicle before and after the control is 0.172 5 and 0.288 6 respectively,and the vibration amplitude of the hinged angle is markedly reduced,improving the vehicles'lateral stability.
关键词
拖挂式房车/差动制动/模糊PID/横摆角速度Key words
trailer-mounted RV/differential braking/fuzzy PID/yaw velocity引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据