基于T-S模型的载货车辆动态参数滑模控制

孙船斌1,2,3,方琳1,童宝宏1,2,3,郑近德1,2,3

振动与冲击 ›› 2021, Vol. 40 ›› Issue (12) : 254-264.

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振动与冲击 ›› 2021, Vol. 40 ›› Issue (12) : 254-264.
论文

基于T-S模型的载货车辆动态参数滑模控制

  • 孙船斌1,2,3,方琳1,童宝宏1,2,3,郑近德1,2,3
作者信息 +

Dynamic parameter sliding mode control of truck based on a T-S model

  • SUN Chuanbin1,2,3, FANG Lin1, TONG Baohong1,2,3, ZHENG Jinde1,2,3
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摘要

为改善载货车辆极限状态的操纵稳定性和侧翻稳定性,在非线性工作域内进行主动横摆和侧倾力矩的改进型滑模控制,实现载货车辆横摆-侧倾运动的联合控制。利用扇形域建立非线性悬架和轮胎的T-S模型,结合模糊观测器获取悬架和轮胎动态模型参数。基于T-S方法的横摆-侧倾联合控制模型,考虑横向载荷偏移对期望横摆角速度的影响,建立横摆状态和侧倾状态滑模面,设计了改进型滑模方法的动态滑模参数,并对控制系统进行Lyapunov稳定性分析。在Trucksim中采用Sine with Dwell转向输入进行验证,结果表明:结合模糊观测器的T-S方法能够准确模拟模型参数的非线性变化,动态滑模参数具有不同路面摩擦状态的自适应性,结合T-S模型的动态参数滑模方法能显著提高载货车辆极限状态下的稳定性,控制性能优于传统滑模方法。

Abstract

To enhance the handling stability and rollover stability of a truck under extreme conditions, a novel sliding mode control of active yaw and roll torque was carried out in nonlinear working domain, constructing integrated control of yaw-roll motion of the truck.A T-S model of nonlinear suspension and tire was established in sector domain, and dynamic model parameters of the suspension and the tire were obtained by a fuzzy observer.Based on the T-S integrated control model of yaw-roll motion, sliding mode surfaces of yaw and roll motion state were constituted considering lateral load offset influence on desired yaw velocity, then non-steady parameter of the novel yaw sliding mode was designed, and Lyapunov stability of the control system was analyzed.Sine with dwell steering input was used to verify in Trucksim.The results show that, the nonlinear variation of model parameters is accurately performed on the T-S method combined with the fuzzy observer, self-adaptability of dynamic sliding mode parameter is presented under different road friction states, the stability of Truck under extreme conditions is significantly improved using dynamic parameter sliding mode with T-S model, and the control performance is better than traditional sliding mode method.

关键词

载货车辆 / 非线性系统 / 联合控制 / T-S模型 / 动态滑模参数

Key words

truck / nonlinear system / integrated control / T-S model / dynamic sliding mode parameter

引用本文

导出引用
孙船斌1,2,3,方琳1,童宝宏1,2,3,郑近德1,2,3. 基于T-S模型的载货车辆动态参数滑模控制[J]. 振动与冲击, 2021, 40(12): 254-264
SUN Chuanbin1,2,3, FANG Lin1, TONG Baohong1,2,3, ZHENG Jinde1,2,3. Dynamic parameter sliding mode control of truck based on a T-S model[J]. Journal of Vibration and Shock, 2021, 40(12): 254-264

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