电驱动挂车横向稳定性研究

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中图分类号：U469.5 收稿日期：2025-11-30 DOI：10.19999/j.cnki.1004-0226.2026.02.001

Analysis of the Lateral Stability of Electrically-driven Trailers

Abstract：Thispaperfocusesontheproblemoflateralinstabilitythatispronetooccurinelectricdrivetrailersduringdoublelane changemaneuvers，andconductsresearchontheirlateraltabilityandcontrolstrategies.Byestablishingavehicledynamicsmodelof thetractorandtheelectricall-driventrailer，acooperativecontroltrategybasedonnonlinearmodelpredictivecontrol（NMPC）nd adaptivestabilityboundarisisproposed.Thisstrategyachievesreal-timeoptimizationofthetorquediferencebetweentheleftand rightwhelsbydynamicallyadjustingteboundariesofthecenterofmassideslipangleandtheyawratetracking target，therebyenhancingthevehicle'slateralstabilitySimulationresultsunderthedoublelanechangeconditionshowthattheproposedcontroltrategy canefectivelyreducethepeakvaluesofthecenterofmassidslipngleandyawrateimprovethevehicle'strajectorytrackingability andanti-interfereperfoancepovingtoreticalspprtandtodologicaleferecfortectieetyotroloeltical ly-driven trailers.

KeyWords：Electrically-driven Trailers;Lateral stability;Control strategy;Model prediction

1前言

横向失稳是威胁传统无动力挂车行驶安全的主要问题，它在变道或低附着路面的打滑、甩尾等现象尤为突出[1-2]。（剩余6758字）