Distributed electric drive semitrailer train transverse stability control method

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Distributed electric drive semitrailer train transverse stability control method

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DENG ZHAOWEN / DENG SI / ZHAO YOUQUN / GAO WEI / WANG BAOHUA / WANG SISHAN / KONG XINXIN / LUO JINTAO / JIN YONGHUI / CAO YIFAN / ... [more]

Abstract

The invention belongs to the technical field of electric semi-trailer train control, and particularly relates to a distributed electric drive semi-trailer train transverse stability control method which comprises the following steps: 1) establishing a vehicle dynamics model; 2) based on a sliding mode control (SMC) algorithm, considering the influence of a hinge angle on the transverse stability of the trailer, and designing a tractor and trailer upper-layer transverse stability controller; 3) judging the stability of the upper-layer controller; and 4) adopting an equal proportion distribution method to distribute the wheel torque for the lower layer. Compared with an existing distributed electric drive semitrailer train transverse stability control method based on PID control, the method has the advantages that the yaw velocity, the side slip angle and the hinge angle of a tractor and a trailer can be reduced, and the stability and the safety of the semitrailer train during high-speed running are effectively improved.

本发明属于电动半挂汽车列车控制技术领域，具体涉及一种分布式电驱动半挂汽车列车横向稳定性控制方法，所述控制方法包括以下步骤：1）建立车辆动力学模型；2）基于滑模控制（Sliding mode control，SMC）算法，并考虑铰接角对挂车横向稳定性的影响，设计牵引车与挂车上层横向稳定性控制器；3）对上层控制器进行稳定性判定；4）下层采用等比例分配法，对车轮转矩进行分配。与现有基于PID控制的分布式电驱动半挂汽车列车横向稳定性控制方法比较，本发明可降低牵引车和挂车的横摆角速度、质心侧偏角和铰接角，有效提高半挂汽车列车高速行驶时的稳定性和安全性。

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Title :

Distributed electric drive semitrailer train transverse stability control method

Additional title:

一种分布式电驱动半挂汽车列车横向稳定性控制方法

Contributors:

DENG ZHAOWEN (author) / DENG SI (author) / ZHAO YOUQUN (author) / GAO WEI (author) / WANG BAOHUA (author) / WANG SISHAN (author) / KONG XINXIN (author) / LUO JINTAO (author) / JIN YONGHUI (author) / CAO YIFAN (author)

Publication date :

2023-05-16

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung