| 基于实时载质量分布的电动轻型载重汽车横向控制算法的研究 |
| Research on Lateral Control Algorithm for Electric Light Truck Based on Real-time Load Mass Distribution |
| 投稿时间：2023-06-26 修订日期：2023-06-26 |
| DOI：10.12136/j.issn.1000-890X.2025.02.0089 |
| 中文关键词: 电动轻型载重汽车 智能轮胎 横向控制算法 |
| 英文关键词: electric light truck intelligent tire lateral control algorithm |
| 基金项目:安徽省科技重大专项项目（202203a05020008）；中国声谷创新发展关键核心技术揭榜挂帅攻关项目（2108-340161-04-01-727575）；安徽省《支持新能源汽车产业创新发展和推广应用若干政策》支持研发创新项目（wfgcyh2021439）；济宁市产业创新重大技术项目（2022JBZP002） |
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| 中文摘要: |
| 探讨基于实时载质量分布的电动轻型载重汽车横向控制算法。首先通过智能轮胎加速度传感器实时测量轮胎接地变形系数，间接算出每个轮胎实时垂向负荷，结合所有轮位垂向负荷参数估算出整车总质量、质心位置和侧偏刚度；然后在自然坐标系下建立电动轻型载重汽车二自由度模型，提出一种基于线性二次调节器的车辆横向控制算法；最后通过Matlab/Simulink与Trucksim软件联合仿真，使轻型载重汽车在不同载质量下均能够较好地实现转向控制。 |
| 英文摘要: |
| The lateral control algorithm for the electric light truck based on real-time load mass distribution was investigated.Firstly，by using intelligent tire acceleration sensors to measure the ground deformation coefficient of the tire in real-time，the real-time vertical load of each tire was indirectly calculated. Combined with the vertical load parameters of all wheel positions，the total mass，center of mass position and lateral stiffness of the vehicle were estimated.Then，a two freedom degree model of the electric light truck was established in the natural coordinate system，and a vehicle lateral control algorithm based on linear quadratic regulator was proposed.Finally，through the joint simulation of Matlab/Simulink and Trucksim softwares，the steering control of the light truck could be achieved well under different load masses. |
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