摘要
为提高客车侧翻稳定性,提出了一种基于车辆状态估计的客车主动防侧翻控制方法。针对客车行驶过程中直接计算侧翻指标LTR困难较大、准确度较低的问题,基于TruckSim整车模型和三自由度参考模型建立了无迹卡尔曼滤波(Unscented Kalman Filter,UKF)状态参数估计器。结合现有车辆稳定性控制系统,设计了柔性PID控制器,以差动制动的原理对防侧翻附加横摆力矩进行补偿。通过TruckSim/Simulink联合仿真平台对客车在鱼钩试验典型工况下进行了仿真试验,结果表明,设计的主动防侧翻控制系统在中、高车速时均能降低LTR值至阈值附近,有效提高了客车的侧翻稳定性。
In order to improve the rollover stability of bus,an active anti-rollover control method based on vehicle state estimation is proposed.An Unscented Kalman Filter(UKF)state parameter estimator is established based on TruckSim vehicle model and three-degree-of-freedom reference model to solve the problems of large difficulty and low accuracy in direct calculation of LTR.Combined with the existing vehicle stability control system,a flexible PID controller is designed to compensate the additional yaw moment of rollover based on the principle of differential braking.TruckSim/Simulink co-simulation platform was used to carry out the simulation test of the bus under the typical working conditions of the fishhook test.The results show that the designed active anti-rollover control system can reduce the LTR value to the threshold value at medium and high speeds,effectively improving the roll stability of the bus.
作者
康小鹏
董浩
祁传琦
王辉
KANG Xiao-peng;DONG Hao;QI Chuan-qi;WANG Hui(School of Mechanical Engineering,Chengdu University,Sichuan Chengdu 610106,China;Institute for Advanced Study,Chengdu University,Sichuan Chengdu 610106,China)
出处
《机械设计与制造》
北大核心
2022年第7期10-13,18,共5页
Machinery Design & Manufacture
基金
国家自然科学基金项目(11802041)
成都大学青年基金项目(2015XJZ17)。
关键词
侧翻控制
状态估计
UKF
Rollover Control
State Estimation
UKF
