机械科学与技术2012，Vol.31Issue(10)：1694-1697,4.
半挂汽车列车横向稳定性的最优控制
The Optimal Control of Tractor-semitrailer Steering Stability
摘要
Abstract
The optimal controller of direct yaw-moment control of tractor-semitrailer was designed, and its effective- ness was verified. The Gim tire model was adopted to set up the nonlinear dynamic model of tractor-semitrailer. Choosing slip angle of tractor, yaw velocity of tractor and semitrailer, and angle of central line of tractor and semi- trailer as control variables, the optimal control scheme was proposed. An optimal controller of direct yaw-moment control for the tractor-semitrailer stability was developed based on model tracing control technique. Based on the es- tablished nonlinear dynamics model, simulation in Matlab/Simulink software environment is described. The simula- tion consults suggest that for tractor-semitrailer with optimal controller of DYC, the handling and stability perform- ance on big slip angle can be improved, which makes the driver drive the vehicle normally.关键词
直接横摆力矩/操纵稳定性/最优控制/Gim轮胎模型Key words
direct yaw-moment control/handling stability/optimal control/gim tire model分类
交通工程引用本文复制引用
刘春辉,关志伟,杜峰,周毅,孔超..半挂汽车列车横向稳定性的最优控制[J].机械科学与技术,2012,31(10):1694-1697,4.基金项目
教育部科学技术研究重点课题项目 （）
天津市高等学校科技发展基金计划项目（20110405）资助 （）
