基于参数估计的半挂汽车列车稳定性控制研究

车辆参数估计是半挂汽车列车稳定性控制研究的关键,通过递推最小二乘法（RLS）估计整车质量和轮胎侧偏刚度,进而获取挂车横摆转动惯量,将估计的车辆参数应用于稳定性控制系统,修正控制系统参数.基于商用车动力学仿真软件TruckSim建立了某半挂汽车列车的非线性整车仿真模型,在Matlab/Simulink中设计建立了稳定性控制逻辑和参考响应模型,通过TruckSim-Simulink的联合仿真对控制方案进行了验证分析.结果表明,基于名义参数设计的控制系统受载重变化的影响较大,而带有参数估计的控制系统由于能够对控制参数进行修正,可以较好地适应载运工况的变化,受载运工况的影响较小.

Stability Control of Tractor-Semitrailer Vehicle Based on Parameter Estimation

A critical component of vehicle stability control systems in tractor-semitrailer is the accurate knowledge of parameter estimation.An estimation algorithm using recursive least square method（RLS） to estimate the vehicle mass and tyre cornering stiffness is developed.Based on the estimated vehicle mass,trailer yaw moment of inertia can be obtained.The estimated vehicle parameters are sent to vehicle stability control system to replace the nominal control parameters for precise control decision.A nonlinear tractor-semitrailer simulation model is established based on the famous commercial vehicle dynamics simulation platform TruckSim.The effect of parameter identification on control system is evaluated by TruckSim-Simulink co-simulation.Simulation results reveal that the control scheme with parameter identification can well adapt to the variation of vehicle load compared with the scheme with nominal design parameters.