| 半挂汽车列车高速变道稳定域估计 |
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| 引用本文： | 彭涛,关志伟,张荣辉,杜峰,宗长富,李克宁.半挂汽车列车高速变道稳定域估计[J].交通运输工程学报,2018,18(4):90-102. |
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| 作者姓名： | 彭涛 关志伟 张荣辉 杜峰 宗长富 李克宁 |
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| 作者单位： | 1.天津职业技术师范大学 汽车与交通学院，天津 3002222.中山大学 广东省智能交通系统重点实验室，广东 广州 5102753.吉林大学 汽车仿真与控制国家重点实验室，吉林 长春 1300254.上海交通大学 机械系统与振动国家重点实验室，上海 200240 |
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| 基金项目： | 国家自然科学基金项目51775565国家自然科学基金项目51208500天津市自然科学基金项目16JCZDJC38200天津市科技计划项目16PTGCCX00150天津职业技术师范大学人才启动项目KYQD1710 |
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| 摘 要： | 为改善传统稳定域在评价铰接列车非稳态转向稳定性方面的不足, 提出了一种适用于半挂汽车列车的高速变道稳定域的估计方法; 建立了包含Pacejka魔术公式的半挂汽车列车四自由度非线性动力学模型, 通过半挂汽车列车高速变道的仿真和实车试验对比验证了所建模型的有效性; 在构建车辆系统Jacobian矩阵的基础上, 应用特征根法分析了车辆在高速阶跃转向和正弦转向2种情况下的稳定性; 基于Lyapunov稳定性定理, 通过构建Lyapunov能量函数, 分析了车辆极限状态时的系统能量与能量变化阈值, 获得了车辆高速变道稳定域, 并利用半挂汽车列车30m·s-1变道试验验证稳定域。分析结果表明: 高速变道过程中车辆系统Jacobian矩阵特征根大于0, 但最终收敛至小于0, 系统仍可保持稳定; 车辆高速变道稳定域为近似凹形曲面, 能量越接近中心区的低点, 车辆系统越稳定, 而一旦接近甚至超过能量阈值, 车辆系统将临近或发生失稳; 在半挂汽车列车30m·s-1变道试验中, 当Lyapunov能量接近阈值3.863 6J时, 车辆系统处于临近失稳状态。可见, 确定的半挂汽车列车高速变道稳定域, 能够较好地表征车辆系统在高速瞬态连续转向状态下的稳定性, 可为半挂汽车列车操纵稳定性评价和控制提供有益参考。
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| 关 键 词： | 汽车工程 半挂汽车列车 非线性稳定性 Lyapunov稳定性定理 高速变道 稳定域 交通安全 |
| 收稿时间： | 2018-03-04 |
Stability region estimation of lane change on highway for tractor-semitrailer |
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| PENG Tao,GUAN Zhi-wei,ZHANG Rong-hui,DU Feng,ZONG Zhang-fu,LI Ke-ning.Stability region estimation of lane change on highway for tractor-semitrailer[J].Journal of Traffic and Transportation Engineering,2018,18(4):90-102. |
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| Authors: | PENG Tao GUAN Zhi-wei ZHANG Rong-hui DU Feng ZONG Zhang-fu LI Ke-ning |
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| Affiliation: | 1.School of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222, China2.Guangdong Key Laboratory of Intelligent Transportation System, Sun Yat-Sen University, Guangzhou 510275, Guangdong, China3.State Key Laboratory of Automotive Simulation and Control, Jilin University, Jilin, China4.State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China |
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| Abstract: | To improve the deficiency of the traditional vehicle stability region for evaluating the unsteady steering stability of articulated train, a stability region estimation method for lane change on a highway for tractor-semitrailer was proposed. A four-degree-of-freedom nonlinear dynamics model of tractor-semitrailer with Pacejka's magic formula was established and verified by comparing the tractor-semitrailer lane change simulation and test on a highway. Though establishing the vehicle system Jacobian matrix, the vehicle stabilities in high-speed step steeringand sinusoidal steering were analyzed by using an eigenvalue method. Based on the Lyapunov stability theorem, the Lyapunov energy function was derived. The energy and energy change thresholds of the vehicle system in critical situations were analyzed, and the vehicle stability region for lane change on a highway was obtained. The stability region was verified by tractorsemitrailer lane change test at 30 m·s-1. Analysis result shows that the eigenvalues of the vehicle system Jacobian matrix are greater than 0 during lane change on a highway, but the values finally converge to less than 0, so the system can remain stable. The vehicle stability region for lane change on a highway is an approximate concave surface, so the closer to the low point in the central area, the more stable the vehicle system is, and the vehicle system will approach instability or become unstable once approaching or even exceeding the energy threshold. A vehicle lane change test at 30 m·s-1 indicates that the vehicle system is in critical instability when the Lyapunov energy is close to the threshold of 3.863 6 J. Therefore, the determined stability region for lane change on a highway for a tractor-semitrailer can better characterize the stability of vehicle system in the condition of high-speed transient continuous steering, and offer a valuable reference for tractor-semitrailer handling stability evaluation and control. |
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