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为研究半挂液罐车在液体晃动情况下的稳定性控制问题,根据等效原则,建立液体晃动的等效模型,并结合半挂车的刚体模型,建立半挂液罐车非线性动力学模型。选择牵引车横摆角速度作为控制变量,在相平面内判断车辆处于“不足-过度转向”的强弱程度,并结合铰接角判断车辆的运行工况,考虑偏差零态为保持态时,设计了相平面分区九态控制器,通过差动制动实现附加横摆力矩控制车辆的稳定性。仿真结果表明:基于相平面分区控制的方法可以有效抑制液体晃动对车辆的影响,提高半挂液罐车的行驶稳定性,避免侧翻、摆振和折叠事故的发生。
In order to study the stability control of semi-trailer tanker under the condition of liquid sloshing, an equivalent model of sloshing is established based on the equivalent principle. Combined with the rigid body model of semi-trailer, a nonlinear dynamic model of semi-tanker tanker is established. Select the yaw rate of the tractor as the control variable, judge the degree of the vehicle in “phase-oversteer” in the phase plane, and judge the operating conditions of the vehicle based on the articulation angle. When considering the zero state as the holding state, A nine-state controller of phase plane partition is designed to realize additional yaw moment control of vehicle stability by differential braking. The simulation results show that the method based on phase plane partition control can effectively restrain the impact of liquid sloshing on the vehicle, improve the driving stability of the semi-trailer tanker, and avoid rollover, shimmy and folding accidents.