汽车列车主动安全系统的设计方法研究

The proposed research program is to examine and develop a design methodology for multi-trailer articulated heavy vehicles (MTAHVs) with active safety systems considering the interactions among the driver, MTAHV and highway ramp. Compared with articulated heavy vehicles (AHVs) with a single trailer, MTAHVs with double trailers can improve fuel economy and reduce greenhouse gas emissions by approximately one-third. However, due to MTAHVs' complex configurations, large sizes, and high centre of gravity, these vehicles have poor low-speed maneuverability and exhibits high-speed unstable motion modes, including rollover, trailer swing and jackknifing. The poor directional performance of MTAHV may lead to fatal accidents on highways. The operating safety of MTAHVs has become a bottleneck in the development of highway transportation around the world. To increase the highway operating safety of MTAHVs, the proposed program will develop an active safety system (ASS) which consists of the subsystems of trailer active steering control (TASC) and trailer differential braking control (TDBC). The essence of ASS design is to construct a controller or controllers to work with the driver to accommodate varied operating conditions. Current ASS design methods have not adequately addressed the interactions of driver-vehicle-road. The research will focus on the following interrelated investigations: 1) Generate a high fidelity MTAHV driver model. A driver model will be generated to represent the behavior and performance of a typical MTAHV driver. The resulting driver model will be validated using real-time simulation with a vehicle driving simulator. 2) Design TASC system and control algorithms. To improve low-speed maneuverability and high-speed stability, the TASC system and control algorithms are optimized. 3) Derive an integrated control strategy. To accommodate various operating conditions of MTAHVs on highways, the control subsystems of TASC and TDBC will be integrated. 4) Develop a multilevel design optimization method. To optimize the integrated control system, a multilevel design optimization (MDO) method will be investigated. It is expected that the proposed program will lead to a systematic design method for ASSs for MTAHVs. The findings achieved from the research will promote the advancement of scientific research in the interactions among human driver, vehicle system and highway transportation environment.

本项目提出一种新的汽车列车安全系统设计方法。汽车列车具有结构复杂、体积大和质心高等特点, 具有低速机动性差和高速不稳定现象, 如侧翻和挂车折叠, 在高速行驶时常致命车祸。高速行驶安全性已经成为制约汽车列车高速公路运输发展的瓶颈。目前的汽车列车的安全性设计方法没有充分地考虑人-车-路间的相互关系和挂车的主动转向，在进行系统设计时, 必须深入研究人-车-道路间的相互关系。为提高汽车列车高速公路行驶安全性, 本项目拟研发一种新型汽车挂车主动转向系统和汽车列车主动安全系统及其设计方法，该主动安全系统集成挂车主动转向和差动制动，这一系统具有良好的应用前景。本项目主要内容如下: 1)设计出适用于多节挂车的汽车列车驾驶员模型； 2)设计并优化挂车主动转向系统及差动制动控制系统； 3)设计主动安全系统集成控制策略,以适应汽车列车多变的行驶工况； 4)提出一种新的多级优化设计方法，用于优化该主动安全系统.

随着高速公路和物流运输业的迅猛发展，多节重型挂车式汽车列车（MTAHV）能更高效地提高公路运输的综合经济效益。但MTAHV车辆冗长且有多个非转向轴，因此存在低速机动性差、高速行驶不稳定等问题。. 本项目重点是研究汽车列车主动安全系统的设计方法，提出基于挂车主动转向技术来提高MTAHV的低速机动性和高速行驶的稳定性，减少在高速公路的交通事故率。主要研究内容如下：分析了汽车列车运动学和动力学特性，研究了双拖挂铰接汽车列车建模方法；分析了高速公路典型匝道的几何特征；研究了挂车主动安全转向控制策略；设计了用于多轴转向的主动转向装置，开发了铰接车辆挂车主动安全系统，分析了不同参数对系统转向特性的影响。. 研究了高速公路匝道典型特征，主要包括三部分：连接主车道的过渡部分、平行于主车道的加速/减速段和一个曲率不断变化的斜坡，MATHV在该路段极易发生交通事故。匝道大体呈“1/4圆”、“U字”、“3/4圆”以及“S” 形弯道的立体几何，且内、外倾斜度随弯道曲率变化而变化。在国内率先建立了这些典型工况的匝道模型，为汽车列车驾驶员模型研究和稳定性分析提供典型匝道工况。. 研究了挂车主动转向控制策略，提出了一种综合控制策略。基于LQR控制和H2/H∞鲁棒控制设计了挂车主动转向控制器，分析结果表明，在系统参数变化时混合H2/ H∞状态反馈控制器能够比LQR控制器对汽车列车的机动性和方向稳定性有更好的效果，两种控制策略均能提升汽车列车的转向稳定性。设计了基于主动转向和差动制动的综合控制策略，结果表明，综合控制策略能有效改善车辆方向稳定性,该研究完善了汽车列车主动转向控制技术。. 项目组设计了一种适用于汽车列车的新型电液主动转向集成装置，该装置具有自动对中和失效自锁保护功能。项目组对主动转向集成装置进行了结构优化，并完成了装置的样机开发。该成果为后期试验验证提供了基础，也为汽车列车主动转向系统开发提供了一种新的设计方案和方法。

内容获取失败，请点击重试