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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

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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。
Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop
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 sin-gle-control mode controlled only by tractor and multi-control mode controlled by both tractor and trailer,aiming at the lateral de-flection angle and yaw velocity deviation and deviation change rate of the TruckSim nonlinear model and the four-degree-of-free-dom linear model respectively.The effectiveness of the control strategy was verified through the co-simulation of MATLAB/Simu-link software and TruckSim software and the Hardware-in-the-Loop(HIL)platform.The results show that,in high-speed overta-king 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.

double-truck traindirect yaw moment controldifferential brakingfuzzy Proportion、Integral、Differential(PID)con-trolhardware-in-the-loop validation

曹艺凡、邓召文、高伟、孔昕昕、王保华

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湖北汽车工业学院汽车工程学院,十堰 442002

湖北汽车工业学院汽车工程师学院,十堰 442002

南京航空航天大学能源与动力学院,南京 210016

湖北隆中实验室,襄阳 441000

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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

国家自然科学基金项目湖北省自然基金项目湖北省教育厅科研项目湖北省教育厅科研项目襄阳市科技计划湖北隆中实验室专项项目

520721162023AFB985B2021143B2021144

2024

10.16731/j.cnki.1671-3133.2024.03.011

现代制造工程
北京机械工程学会 北京市机械工业局技术开发研究所

现代制造工程

CSTPCD北大核心
影响因子：0.374
ISSN：1671-3133
年,卷(期)：2024.(3)
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