重庆大学学报2017，Vol.40Issue(8)：78-89,12.DOI:10.11835/j.issn.1000-582X.2017.08.010
模式切换的中高速重型半挂车挂车主动转向控制策略
The active trailer steering strategy for articulated heavy vehicles based on modes switching in medium/high speed conditions
摘要
Abstract
In order to achieve optimal control of articulated heavy vehicles under medium/high speed uncertain conditions,an active trailer steering strategy for articulated heavy vehicles based on mode switching in medium/high speed conditions is presented based on the linear variable real-time parameters simplified model.The active trailer steering strategy is based on trailer active steering.According to different medium/high speed conditions,the different control modes are used to control in the strategy.The aims,which are to control vehicle rollover under the limit condition and to achieve the good path follow,yaw and jackknife stability under the normal working condition,are obtained.In order to obtain the optimal control effect for the different control objectives,the optimal weight coefficients,which are suitable for different control modes,are obtained by the genetic particle swarm optimization algorithm.Simulation study is operated and simulation results indicate that:from low adhesion to high adhesion,from normal working condition to limit working condition,the proposed strategy can achieve good control in medium/high speed conditions.关键词
重型半挂车/挂车主动转向/车辆动态控制/参数优化/模式切换Key words
articulated heavy vehicle/integrated control strategy/vehicle dynamics and control/parameter optimization/mode switching分类
交通工程引用本文复制引用
聂枝根,宗长富,杨秀建,高晋,张昆..模式切换的中高速重型半挂车挂车主动转向控制策略[J].重庆大学学报,2017,40(8):78-89,12.基金项目
云南省人才培养项目(KKSY201602009) （KKSY201602009）
国家自然科学基金资助项目(51465023,51575224).Supported by Talents Development Project of Yunan Province(KKSY201602009) and National Natural Science Foundation of China(51465023,51575224). （51465023,51575224）
