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基于TruckSim-Simulink联合仿真的半挂汽车列车 稳定性控制研究( 杨秀建, 康 南, 李西涛 (昆明理工大学, 交通工程学院,昆明, 650500) 摘要: 基于TruckSim建立了非线性半挂汽车列车整车仿真模型作为控制方案仿真验证的平台。探讨牵引车和半挂车独立差动制动控制对整车横摆运动的主动控制问题，控制方案分为顶层横摆力矩控制器和底层制动力分配器两部分，顶层控制器输出改善整车横向稳定性能的附加横摆力矩，底层制动力分配器合理分配各车轮的制动力来实现该附加横摆力矩，整个控制策略在Matlab/Simulink中实现。阐述了TruckSim与Simulink的联合仿真问题，搭建了TruckSim-Simulink联合仿真模型，通过湿滑路面上的单移线试验操作对控制策略进行了联合仿真分析，结果表明，TruckSim-Simulink联合仿真是进行半挂汽车列车稳定性控制策略分析评价的有效手段，所提出的控制方案能够显著改善整车的横摆稳定性和侧倾稳定性。; 汽车主动安全; 联合仿真; 半挂汽车列车汽车动力学; TruckSimTractor-semitrailer Vehicle Stability Control Based on TruckSim-Simulink Co-simulation Yang Xiujian, Kang Nan, Li Xitao Kunming University of Science and Technology, Faculty of Transportation Engineering , Kunming 650500 Abstract: This paper focuses on the issue of stability control for the tractor-semitrailer vehicle. A nonlinear tractor-semitrailer vehicle simulation model is established based on TruckSim used to validate the proposed control scheme. The yaw dynamics of the whole vehicle is stabilized by differential braking the wheels of the tractor and the trailer. The control system which is designed in Matlab/Simulink is a two-level structure with the upper yaw moment controller outputting an additional yaw moment and the lower control allocator realizing the additional yaw moment by coordinating the wheel brake actions of the tractor and the trailer appropriately. A Trucksim-Simulink co-simulation model is constructed and then based on which the proposed control scheme is validated by a single-lane change maneuver on a slippery road. Simulation results reveal that it is an effective means to design and evaluate the vehicle stability control strategy by TruckSim-Simulink co-simulation method. The proposed control scheme can significantly improve the vehicle yaw stability and roll stability. Key words: Vehicle Dynamics; Tractor-Semitrailer Vehicle; Vehicle Active Safety; Co-Simulation; TruckSim 0前言 半挂汽车列车凭借其运输量大、高效经济的运输特点，成为区段运输、甩挂运输和滚装运输的理想车型，得到了广泛应用。随着车速和运输效率的提高，半挂汽车列车引发的事故也在不断增加，在进行超车换道、紧急避