The invention belongs to the technical field of vehicle engineering, and relates to an active steering and differential braking integrated anti-rollover control method, which comprises the following steps of: constructing a tractor steering and differential braking integrated kinetic model; establishing a controller by adopting a model prediction method; setting rotation angle and braking torque constraints based on the road adhesion coefficient, and solving a constraint optimization problem by using quadratic programming to obtain optimal control quantity output. According to the method, the dynamic estimator of the road adhesion coefficient is introduced into the constraint of the front wheel turning angle and the trailer yawing moment, the tire slipping phenomenon caused by insufficient adhesion of the vehicle on a low-adhesion road surface can be effectively reduced, the problem that a static value cannot adapt to any working condition in real time is solved, meanwhile, a controller is arranged by adopting a model prediction method, and the control precision is improved. According to the anti-rollover control method for the articulated vehicle, the adaptability of anti-rollover control of the articulated vehicle on the low-adhesion-coefficient road surface can be effectively improved, and the anti-rollover control effect is practically enhanced through an integrated method.

    本发明属于车辆工程技术领域,涉及一种主动转向与差动制动集成防侧翻控制方法,包括:构建牵引车转向与差动制动集成动力学模型;采用模型预测方法建立控制器;基于路面附着系数设置转角和制动力矩约束,运用二次规划求解约束优化问题得最优控制量输出。本发明在前轮转角和挂车横摆力矩约束中引入了路面附着系数的动态估计量,可有效减少车辆在低附着路面下因附着力不够而出现的轮胎打滑现象和解决静态值不能实时适应任意工况的问题,同时,采用模型预测方法设置控制器,提前预测车辆未来状态,提升驾驶安全性,本发明能够有效提高铰接式车辆在低附着系数路面下防侧翻控制的适应性,以集成式方法切实强化了防侧翻控制效果。


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    Titel :

    Active steering and differential braking integrated anti-rollover control method


    Weitere Titelangaben:

    主动转向与差动制动集成防侧翻控制方法


    Beteiligte:
    LI HONGXUE (Autor:in) / LIU LIANGSHENG (Autor:in)

    Erscheinungsdatum :

    2023-06-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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