JZUS - Journal of Zhejiang University SCIENCE

Frontiers of Information Technology & Electronic Engineering 2016 Vol.17 No.6 P.576-586

Active steering control strategy for articulated vehicles

Author(s): Kyong-il Kim, Hsin Guan, Bo Wang, Rui Guo, Fan Liang
Affiliation(s): State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China; more
Corresponding email(s): kimkyongil@163.com, guor@jlu.edu.cn
Key Words: Articulated vehicle, Sharp curve, Lateral stability, Linear quadratic regulator (LQR)

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Abstract: To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator (LQR) theory. First, a three-degree-of-freedom (3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization (SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key parameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpolation. Simulation results show that vehicle parameter outputs of the simplified model and TruckSim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity (CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the TruckSim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.

铰接车辆的主动转向控制策略研究

目的：在车辆稳定性控制领域中，目前对两轴车的研究较为成熟，对多轴的铰接车辆模拟仍有待深入研究。现有的文献对铰接车辆的稳定性控制策略，主要采用挂车跟踪拖车轨迹的控制策略，不适用于直角弯工况。为解决这一问题，本文设计了适用于铰接车辆的跟踪理想横摆角速度和质心侧偏角的控制策略，适用于铰接车辆任意工况的稳定性控制。
创新点：首次将跟踪理想横摆角速度和质心侧偏角的控制策略用于铰接车辆。
方法：建立了3自由度铰接车辆简化模型，采用基于模拟退火的粒子群优化方法辨识简化模型的关键参数并形成三维场图，能根据铰接车辆的实时工况查表得出当前铰接车辆的关键参数。采用LQR方法设计了跟踪理想横摆角速度和质心侧偏角的控制策略。
结论：本文的控制策略能很好地减小铰接车辆的质心侧偏角（图22、23）；能很好地跟踪理想的横摆角速度（图18、19）；减小侧向加速度（图24、25）改善高速铰接车辆的稳定性并适用于直角弯工况（图14）。

关键词：铰接车辆；直角弯工况；稳定性控制；LQR

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铰接车辆的主动转向控制策略研究

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