角模块架构特种车辆陷坑脱困行驶稳定性控制

赵明慧; 郑昊源; 刘帅帅; 马浩然; 姚双吉; 张利鹏

doi:10.12382/bgxb.2025.0574

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角模块架构特种车辆陷坑脱困行驶稳定性控制

更新时间：2026-05-06

- 角模块架构特种车辆陷坑脱困行驶稳定性控制
- Driving Stability Control for Corner Module Architecture Special Vehicle to Escape from Pit
- 兵工学报 2026年47卷第4期页码：250574
- 作者机构：
  
  燕山大学河北省特种运载装备重点实验室，河北秦皇岛 066004
  燕山大学车辆与能源学院，河北秦皇岛 066004
- 作者简介：
  
  通信作者邮箱：evzlp@ysu.edu.cn
- 基金信息：
  
  国家自然科学基金项目(52272407)
- DOI：10.12382/bgxb.2025.0574
  中图分类号： U461.6
- 收稿：2025-06-30，
  
  网络首发：2025-12-25，
  
  纸质出版：2026-04
- 稿件说明：
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赵明慧, 郑昊源, 刘帅帅, 等. 角模块架构特种车辆陷坑脱困行驶稳定性控制[J]. 兵工学报, 2026,47(4):250574.

ZHAO Minghui, ZHENG Haoyuan, LIU Shuaishuai, et al. Driving Stability Control for Corner Module Architecture Special Vehicle to Escape from Pit[J]. Acta Armamentarii, 2026, 47(4): 250574.
赵明慧, 郑昊源, 刘帅帅, 等. 角模块架构特种车辆陷坑脱困行驶稳定性控制[J]. 兵工学报, 2026,47(4):250574. DOI： 10.12382/bgxb.2025.0574.

ZHAO Minghui, ZHENG Haoyuan, LIU Shuaishuai, et al. Driving Stability Control for Corner Module Architecture Special Vehicle to Escape from Pit[J]. Acta Armamentarii, 2026, 47(4): 250574. DOI： 10.12382/bgxb.2025.0574.

摘要

角模块架构特种车辆具有更好的动力学控制性能，为提升其在陷坑时的脱困和稳定性控制能力，提出一种运动姿态协调控制方法。设计前轮出坑流程，根据轮胎与地面力学的分析，构建车身姿态与质心位置关系模型和各轮垂向载荷模型，并揭示出坑高度与坑底路面附着系数和载荷系数的关系；建立整车14自由度动力学模型，设计车高调节前馈控制器和高复杂度线性二次型高斯稳定性反馈控制器；通过角模块样机试验验证滚珠丝杠悬架模型的准确性，并搭建硬件在环测试平台，与低复杂度线性二次型高斯控制器进行对比。研究结果表明，在坑深为0.3m工况下，所设计控制器控制效果明显提升，左右两前轮依次出坑过程中，峰值载荷最大的车轮，其载荷峰值分别减小15%和9%，车身俯仰角、侧倾角和车身垂向速度的最大值分别减小58%、42%和33%，为特种车辆安全脱困提供了理论依据。

Abstract

A special vehicle with corner module architecture has superior dynamic control performance. To enhance the capabilities of escape from pit and stability control of the special vehicle when trapped in a pit

a coordinated motion attitude control method is proposed. The process of front-wheels going out of pit is designed. A model of the relationship between vehicle body attitude and center of gravity position as well as a vertical load model for each wheel are established based on the analysis of tire-ground mechanics. The relationship among the height of escape from pit

the road adhesion coefficient at pit bottom and the loading coefficient is revealed. A 14-degrees-of-freedom vehicle dynamics model is established

and a feedforward controller for vehicle height adjustment and a high-complexity linear quadratic Gaussian stability feedback controller are designed. The accuracy of the ball screw suspension model is verified through the corner module prototype test

and a hardware-in-the-loop test platform is built to compare with the low-complexity linear quadratic Gaussian controller. The research results indicate that the control performance of the proposed controller is significantly improved under the condition of a pit depth of 0.3 m. When the left and right front wheels go out of the pit in sequence

the load peak of the wheel with the maximum peak load decreases by 15% and 9%

respectively

and the maximum values of the vehicle's pitch angle

roll angle and vertical velocity are reduced by 58%

42% and 33%

respectively. This provides a theoretical basis for the special vehicles escaping from pit safely.

关键词

Keywords

references

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