Dynamic parameter sliding mode control of truck based on a T-S model

被引：0
作者：
Sun C. [1 ,2 ,3 ]
Fang L. [1 ]
Tong B. [1 ,2 ,3 ]
Zheng J. [1 ,2 ,3 ]
机构：
[1] School of Mechanical Engineering, Anhui University of Technology, Ma'anshan
[2] Institute of Green and Intelligent vehicles, Ma'anshan
[3] AnHui Province Key Laboratory of Special Heavy Load Robot, Ma'anshan
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2021年 / 40卷 / 12期
关键词：
Dynamic sliding mode parameter; Integrated control; Nonlinear system; T-S model; Truck;
D O I：
10.13465/j.cnki.jvs.2021.12.032
中图分类号：
学科分类号：
摘要：
To enhance the handling stability and rollover stability of a truck under extreme conditions, a novel sliding mode control of active yaw and roll torque was carried out in nonlinear working domain, constructing integrated control of yaw-roll motion of the truck. A T-S model of nonlinear suspension and tire was established in sector domain, and dynamic model parameters of the suspension and the tire were obtained by a fuzzy observer. Based on the T-S integrated control model of yaw-roll motion, sliding mode surfaces of yaw and roll motion state were constituted considering lateral load offset influence on desired yaw velocity, then non-steady parameter of the novel yaw sliding mode was designed, and Lyapunov stability of the control system was analyzed. Sine with dwell steering input was used to verify in Trucksim. The results show that, the nonlinear variation of model parameters is accurately performed on the T-S method combined with the fuzzy observer, self-adaptability of dynamic sliding mode parameter is presented under different road friction states, the stability of Truck under extreme conditions is significantly improved using dynamic parameter sliding mode with T-S model, and the control performance is better than traditional sliding mode method. © 2021, Editorial Office of Journal of Vibration and Shock. All right reserved.
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页码：254 / 264
页数：10
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