中文摘要：

重型半挂车极易发生侧翻事故,提高其侧倾稳定性可以减少事故发生和人员财产损失。针对重型半挂车侧倾稳定性问题,建立车速可变的8自由度动力学模型。在回路传输恢复技术（Loop transfer recovery,LTR）的线性二次高斯（Linear quadratic guass,LQG）控制方法基础上,建立全局增度调度控制的全状态反馈控制器,使LQG/LTR局部状态反馈控制器在不同车速下均能对车辆实施最优主动侧倾控制,从而实现在噪声干扰下对重型半挂车的主动侧倾控制。进行变车速阶跃转向工况下的车辆仿真,对比分析主动控制前后的重型半挂车标准横向载荷转移等参数。车辆仿真结果表明,LQG/LTR方法具有良好的抑制干扰噪声的能力,可使系统具有较好的鲁棒性和稳定性。与被动式车辆相比,变车速的全局增益调度控制算法能有效提高重型半挂车的侧倾稳定性。

英文摘要：

Roll-over crash tends to occur in the heavy tractor semi-trailer, therefore improving the vehicle＇s roll stability can reduce the occurrence of accidents and the losses of lives and property. The 8 DOF heavy tractor semi-trailer dynamic model is built with adjustable speed, based on LQG/LTR for the vehicle roll stability control. The full-state feedback controller is also established and the part LQG/LTR feedback controller can realize the best control in various speed situations, and the active roll control can work in spite of noise interference. The vehicle under the condition of variable speed step steering is simulated, and the parameters such as standard lateral load transfer are compared and analyzed. The simulation results of the vehicle show that the LQG/LTR works well in spite of noise interference, and can improve the robustness and stability of system. Comparing with passive vehicle, the full-state gain control method can effectively improve the roll stability of heavy tractor semi-trailer.