Active Torque Control of Tractor-Trailer Combination Based on Genetic Algorithm Optimization

doi:10.3969/j.issn.1000-565X.2017.04.016

Journal of South China University of Technology (Natural Science Edition) ›› 2017, Vol. 45 ›› Issue (4): 112-117.doi: 10.3969/j.issn.1000-565X.2017.04.016

• Traffic & Transportation Engineering • Previous Articles Next Articles

Active Torque Control of Tractor-Trailer Combination Based on Genetic Algorithm Optimization

ZHANG Yi-hua XU Hong-guo LIU Hong-fei

School of Transportation,Jilin University,Changchun 130022,Jilin,China

Received:2016-06-30 Revised:2016-11-12 Online:2017-04-25 Published:2017-03-01
Contact: 刘宏飞( 1971-) ，男，博士，副教授，主要从事半挂汽车列车横向稳定性研究． E-mail:hongfeiliu@jlu.edu.cn
About author:张义花( 1987-) ，女，博士生，主要从事多挂汽车列车操纵稳定性研究． E-mail: zhangyihua1989@126． com
Supported by:
Supported by the National Natural Science Foundation of China( 51475199)

Abstract

Abstract:

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.

Key words: vehicle dynamics, tractor-trailer combination, active torque control, genetic algorithm, linear quadratic controller

CLC Number:

U469.5

ZHANG Yi-hua XU Hong-guo LIU Hong-fei. Active Torque Control of Tractor-Trailer Combination Based on Genetic Algorithm Optimization[J]. Journal of South China University of Technology (Natural Science Edition), 2017, 45(4): 112-117.

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Active Torque Control of Tractor-Trailer Combination Based on Genetic Algorithm Optimization

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