液罐车稳定性最优控制仿真

针对重型液罐车在紧急避障或转弯时液体和车体相互耦合作用引发的侧翻危险,用势流理论建立液体晃动控制方程并求解液体晃动力和力矩,结合半挂车刚体模型,将液体晃动模型统一到液罐车整车模型中。在鱼钩工况下,对比分析装载等质量液体和固体在激励作用下对罐车稳定性的影响。在非稳态因素影响下,设计了最优控制策略,并进行TruckSim/Simulink 联合仿真分析。结果表明:最优控制策略提高了车辆的鲁棒性,对增强液罐车的稳定性具有指导意义。

Simulation on the optimal control of the stability of liquid tank truck

When a heavy-duty liquid tank truck is in the case of emergency obstacle avoidance or turning, the coupling of liquid and vehicle will bring about the rollover risk to the truck. To solve this problem, a liquid sloshing control equation was established according to the theory of potential flow, and the sloshing force and torque were calculated. Then, combined with the rigid model of semi-trailer, the liquid sloshing model was integrated into the whole vehicle model of liquid tank truck. The influences on the stability of the tank truck with the same mass of liquid cargo and solid cargo under the effect of excitation were comparatively analyzed in the operating condition of fishhook. Finally, under the effect of this unsteady state factor, the optimal control strategy was designed and TruckSim/Simulink combined simulation analysis was carried out. It is indicated that the optimal control strategy put forward in this paper increases the robustness of the vehicle and plays a guiding role in enhancing the stability of liquid tank trucks.