湖北汽车工业学院学报2025，Vol.39Issue(4)：24-30,7.DOI:10.3969/j.issn.1008-5483.2025.04.005
分布式电驱动半挂汽车列车轨迹跟踪与横向稳定控制
Distributed Electrically Driven Semi-trailer Train Trajectory Tracking and Lateral Stability Control
摘要
Abstract
In order to improve the trajectory tracking ability and vehicle handling stability of distribut-ed electrically driven semi-trailer trains,a yaw stabilization and active rear wheel angle controller with linear quadratic regulator and a trajectory tracking controller based on model predictive control were de-signed.The reference values of each state quantity were obtained through the simplified vehicle dynam-ics model,and a torque distribution method based on the axle load of the vehicle was established to rea-sonably distribute the wheel end torque.MATLAB/Simulink and TruckSim were used to jointly simulate the working conditions of high-speed and high-adhesion pavement and medium-speed low-adhesion pavement.The results show that the vehicle with the designed control strategy can effectively track the reference trajectory under different working conditions,and the stability of the vehicle can be improved.关键词
半挂汽车列车/分布式电驱动/线性二次型调节器/模型预测控制/轨迹跟踪/车辆横向稳定性Key words
semi-trailer train/distributed electric drive/linear quadratic regulator/model predictive control/trajectory tracking/lateral stability of vehicle分类
交通工程引用本文复制引用
Tan Wenhao,Han Tongqun..分布式电驱动半挂汽车列车轨迹跟踪与横向稳定控制[J].湖北汽车工业学院学报,2025,39(4):24-30,7.基金项目
汽车零部件技术湖北省协同创新项目(2015XTZX0425) （2015XTZX0425）
