低速重载汽车列车多轴协同转向控制研究

doi:10.16731/j.cnki.1671-3133.2025.12.008

现代制造工程 ›› 2025, Vol. 543 ›› Issue (12): 59-66.doi: 10.16731/j.cnki.1671-3133.2025.12.008

低速重载汽车列车多轴协同转向控制研究

张博强¹, 李家澳¹, 田华良², 周遊¹, 张勋¹

1 河南工业大学机电工程学院,郑州 450001;
2 郑州新大方重工科技有限公司,郑州 450001

收稿日期:2025-01-15 出版日期:2025-12-18 发布日期:2026-01-06
通讯作者: 周遊,博士,讲师,主要研究方向为车辆系统动力学及控制。E-mail:youzhou@haut.edu.cn
作者简介:张博强,博士,高级工程师,主要研究方向为新能源汽车。李家澳,硕士研究生,主要研究方向为车辆系统动力学及控制。
基金资助:
*河南省重点研发专项项目(231111241100);河南省科技发展计划项目(242102240103);河南省高等学校重点科研项目(24B460006)

Research on multi-axis cooperative steering control of low-speed and heavy-duty combination vehicles

ZHANG Boqiang¹, LI Jia’ao¹, TIAN Hualiang², ZHOU You¹, ZHANG Xun¹

1 School of Mechanical and Electrical Engineering,Henan University of Technology, Zhengzhou 450001,China;
2 Zhengzhou New Dafang Heavy Industry & Technology Co.,Ltd.,Zhengzhou 450001,China

Received:2025-01-15 Online:2025-12-18 Published:2026-01-06

摘要/Abstract

摘要： 为提高低速重载汽车列车的机动性与稳定性,设计了Ackermann转向控制器和线性二次型调节器(Linear Quadratic Regulator,LQR)主动转向控制器。在MATLAB/Simulink软件中建立了汽车列车的三自由度模型。以汽车列车前、后车的质心侧偏角与横摆角速度趋近于三自由度模型理想值为控制目标,采用LQR对汽车列车各轴车轮转角进行控制。基于Trucksim与Simulink仿真平台,分别在圆形道路工况和双移线工况下对2种控制器进行了仿真分析,并与汽车列车无控制时的仿真结果进行对比。仿真结果表明,Ackermann转向控制器和LQR主动转向控制器均能有效改善汽车列车的机动性与稳定性;但LQR主动转向控制器的效果更加明显。

关键词: 汽车列车, 线性二次型调节器, 阿克曼转向原理, 多轴协同转向, 路径跟随性能

Abstract: To enhance the maneuverability and stability of low-speed heavy-duty tractor-trailers, an Ackermann steering controller and a Linear Quadratic Regulator (LQR) active steering controller were designed. A three-degree-of-freedom model of the tractor-trailer was established in MATLAB/Simulink. With the control objective of making the sideslip angles and yaw rates of both the tractor and trailer approach the ideal values of the three-degree-of-freedom model, the LQR controller was employed to regulate the wheel angles of each axle. Based on the Trucksim and Simulink simulation platforms, the two control methods were simulated under both circular road and double lane-change conditions, and the results were compared with those of uncontrolled simulations. The simulation results demonstrate that both the Ackermann steering controller and the LQR active steering controller can effectively improve the maneuverability and stability of the tractor-trailer; however, the LQR active steering controller exhibits more significant control performance.

Key words: combined vehicles, Linear Quadratic Regulator(LQR), Ackermann steering principle, multi-axis cooperative steering, path-following performance

中图分类号:

U455.3

张博强, 李家澳, 田华良, 周遊, 张勋. 低速重载汽车列车多轴协同转向控制研究[J]. 现代制造工程, 2025, 543(12): 59-66.

ZHANG Boqiang, LI Jia’ao, TIAN Hualiang, ZHOU You, ZHANG Xun. Research on multi-axis cooperative steering control of low-speed and heavy-duty combination vehicles[J]. Modern Manufacturing Engineering, 2025, 543(12): 59-66.

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低速重载汽车列车多轴协同转向控制研究

Research on multi-axis cooperative steering control of low-speed and heavy-duty combination vehicles

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