为提高双挂汽车列车横向稳定性及行驶安全性，通过建立包括主动力矩控制的双挂汽车列车模型，将列车后部放大系数( RWA) 与质心侧偏角之和的最小值作为适应度函数，基于遗传算法优化设计了线性二次型控制器( LQR) ，以获得最优的主动力矩并反馈给车辆模型; 与不加控制器的车辆模型相比，增加主动力矩控制可避免拖台和二挂车的蛇形运动，同时使得ＲWA 值下降7． 9%，且各个车辆单元将更快达到稳定状态． 但该控制策略对各个车辆单元质心侧偏角的控制不如对横摆角速度的控制精确．

In order to improve the lateral stability and driving safety of tractor-trailer combination,a tractor-trailer combination model considering active torque control was built,and the minimum of the sum of rear amplification factor ( RWA) and sideslip angle was used as a fitness function for the genetic algorithm to design an linear quadratic ( LQR) controller,by which the optimal active torque was obtained and then feed back to the vehicle model.As compared with the vehicle model without LQR controllers,the proposed model with active torque control can avoid the snaking of the dolly and the second semitrailer,reduce the RWA by 7. 9%,and help each unit of the vehicle combination to quickly reach a steady state.However,the proposed strategy for sideslip angle control in each vehicle unit is not as precise as for yaw rate control.