四轮转向半挂汽车列车直接横摆力矩的模糊控制

摘要

引入Gim轮胎模型建立了四轮转向半挂汽车列车的非线性动力学模型.提出了四轮转向直接横摆力矩的集成控制方案,以零侧偏角为控制目标确定了半挂汽车列车牵引车后轮转角,以牵引车横摆角速度为控制变量,基于模糊控制技术设计了直接横摆力矩模糊控制器.借助Matlab/Simulink,对该控制器的有效性进行了验证.仿真结果表明,高速大转向时,四轮转向直接横摆力矩集成控制器能得到较好的输出响应,显著提高了半挂汽车列车的操纵稳定性,使驾驶员能够对半挂汽车列车进行正常操纵.%The Gim tire model was adopted to set up the nonlinear dynamic four - wheel steering dynamic model of tractor - semitrailer. A four -wheel steering with direct yaw - moment control scheme was proposed. Choosing yaw velocity of tractor as control variables, the fuzzy controlscheme was proposed. A fuzzy controller of DYC for the tractor - semitrailer stability was developed. Simulation on a slip angle minimization four -wheel steering tractor - semitrailer in Matlab/Sim-ulink is described. The simulation consults suggest that for four - wheel steering tractor - semitrailer with direct yaw - moment control,a good response can be achieved, which makes the handling and stability performance on big slip angle improved,and makes the driver drive the vehicle normally.