半挂运输车辆横向稳定性控制

摘要

The ADAMS, a kind of vehicle system dynamics simulation software, is used to establish a dynamics simulation model of the semi-trailer transport vehicle.Then, the simulation result of the vehicle model is contrasted with the actual driving test to verify the validity of the simulation model.Based on the fuzzy PID control algorithm, the fuzzy PID controller is designed,according to the acceleration and velocity of the semi-trailer transport vehicle as the control variables and the ADAMS and MATLAB collaborative simulation is analyzed by the single lane simulation test.The results show that the yaw rate, lateral acceleration and folding angle of the semi-trailer vehicle are improved to some extent and so is the driving stability of the semi-trailer vehicle.%基于系统动力学仿真软件ADAMS建立半挂运输车辆动力学仿真模型,并将车辆模型仿真结果与实车试验结果进行对比分析,验证车辆模型的有效性.基于模糊PID控制技术,以半挂运输车辆的折叠角速度和折叠角加速度为控制变量设计模糊PID控制器,通过单移线仿真试验进行ADAMS与MATLAB的联合仿真分析,结果表明:半挂运输车辆的横摆角速度、侧向加速度和折叠角均有不同程度的改善,半挂运输车辆的行驶稳定性得到提高.