摘要
针对重型半挂车的侧倾稳定性问题,建立了八自由度的车辆模型,并以LQR主动侧倾控制方法为基础,提出了一种基于回路传输恢复技术(Loop Transfer Recovery:LTR)的LQG主动侧倾控制算法。设计各个车速下LQG/LTR局部状态反馈控制器,并进行了阶跃转向工况下车辆的仿真。仿真结果表明:LQG/LTR主动侧倾控制算法有效提高了重型半挂车的侧倾稳定性。
A heavy tractor semi-trailer dynamic model was set up and an active roll control algorithm was put forward based on LQG/LTR for the vehicle roll stability control.The partial-state feedback controller in various speeds was established and the roll stability of the vehicle with steering step input was simulated.The simulation results show that the active roll control algorithm is very effective in the active roll control for the vehicle.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第2期476-479,共4页
Journal of System Simulation
基金
国家高技术研究发展计划863计划(2006AA110104)
国家自然基金资助项目(50775096)
关键词
重型半挂车
车辆模型
侧倾稳定性
主动侧倾控制
heavy tractor semi-trailers
vehicle model
roll stability
active roll control
