Research On Anti-roll Control Of Heavy Commercial Vehicle Based On Active Anti-Roll Bar

With the rapid development of modern control theory,multi sensing information fusion,large scale integrated circuits and other technologies,the electronic control system which aims to improve the vehicle's active safety,control stability and comfort has become a hot spot in the field of vehicle engineering research.In view of the fixed torsional rigidity of the passive lateral anti-roll bar of the traditional heavy commercial vehicle and the inability to cope with the frequently changeable rollover condition,the effect mechanism and control characteristics of the new type heavy commercial vehicle transverse stabilization system are studied,and the anti-roll can be provided on the basis of full play of the characteristics of the passive anti-roll bar.The torque improves the handling stability of vehicles under extreme steering conditions and the riding comfort of drivers when driving on normal roads.Based on the research content of the national key research and development project(2016YFB0100905),and on the basis of the comprehensive research status at domestic and foreign,the overall design of the anti-roll control system of a heavy commercial vehicle with a new type of active lateral stabilizer is carried out.A new type of active lateral stabilizer used in heavy commercial vehicle is proposed,which can adjust the actual roll angle of the vehicle body in real time according to the different driving conditions of the heavy vehicle,so as to meet the requirements for the handling stability and comfort of the heavy commercial vehicle.The main contents of the work are as follows:(1)The design and analysis of a new active stabilizer bar.Through the mechanical analysis based on the passive lateral stabilizer,the factors affecting the stiffness of the stable rod are discussed,and a new type of heavy commercial vehicle is designed with the main influence factors,and the type of actuator is selected and the overall assembly scheme is designed.(2)The design of the active lateral stabilizer control scheme.The main influence factors are determined through the analysis of the dynamic model of vehicle roll and the factors affecting the body roll,which provides a theoretical basis for the design of the variable stiffness and active lateral stable rod.A vehicle roll dynamics model including stabilizer bars is established to calculate the roll bar torque of the stabilizer bar during vehicle rollover.The evaluation index of lateral stability of vehicle driving process is established,and the corresponding relationship between the inclination angle of the car body side and the body posture is obtained and the mathematical equation is fitted to it.(3)Research on control strategy formulation and control method of active stabilizer bar system.The eight degree of freedom dynamic model and the state space equation of the whole vehicle are established,and the system control logic under the different working conditions is formulated according to the relationship between the side acceleration of the body and the side inclination of the body.The control strategy is simulated and analyzed based on the linear quadratic optimal controller,and the genetic toolbox is used to optimize the linear quadratic regulator.The parameters of the weight matrix of the controller are optimized.The anti-rollover effect of vehicles under different conditions is verified,and the deficiencies and prospects are summarized.