Bifurcation and robust control analysis to tractor-semitrailer with interference on rainy slippery road

摘要

In this work, based on nonlinear robust control theory and computer virtual simulation technology with driving environment identification, we propose a robust controller and design a dynamic simulation analysis system for tractor-semitrailer with interference on rainy slippery road, and this work's purpose is to solve the virtual simulation analysis problem nonlinear vehicle systems and improve those vehicles safety under harsh environment. Firstly, a verified 6D0F vehicle model with nonlinear tire based on vehicle simulation and analysis data was proposed with external interferences. Jacobian matrix eigenvalues criterion and 3D phase space portrait method were employed for investigating vehicle bifurcations, with crosswind and pavement interferences. Then, the nonlinear bifurcation of the vehicle is analyzed. And, based on robust control theory, taken the tractor yaw rate and joint angle as control objects, a MIMO H_∞ dual feedback synthetic controller with strategy for active front wheel steering (AFS) and direct yaw moment control (DYC) was designed. Furthermore, we have built a new computer dynamic virtual simulation and analyzing system prototype. Finally, the simulation results reveal that Hopf bifurcations are identified with interferences, various equilibrium forms of stability are visualized as well. And the designed controller has good effect on eliminating bifurcations and improving robust stability of tractor-semitrailer with crosswind interference and parameter perturbation on lower adhesion road. It is a valuable reference for tractor-semitrailer safety design and nonlinear analysis under harsh environment, and it also give a useful reference to future intelligent logistics truck platoon design and nonlinear dynamic control.