中文摘要：

为了研究半挂汽车列车横摆稳定性控制问题，以牵引车和半挂车的横摆角速度为控制目标，通过牵引车和半挂车的差动制动控制来改善整车的横摆稳定性。提出了基于约束加权最小二乘优化算法的制动力控制分配方案，实时优化协调分配各车轮的制动力，综合提高整车的横向稳定性。当制动器出现失效或部分失效时，控制系统实时调整控制效率矩阵，对剩余有效的制动器进行重构控制，最大程度地保证整车横摆稳定性，提高控制系统可靠性，并基于MATLAB／Simulink与TruckSim的联合仿真进行了开环操作试验分析。研究结果表明：所提出的控制方案能够综合提高半挂汽车列车的横向稳定性，且制动器失效时能够实现制动力的重构与再分配，保证了控制系统的可靠性。

英文摘要：

To study the yaw stability control for the tractor-semitrailer combination which is realized by differential wheel braking between tractor and semitrailer to keep the yaw stability, with yaw angle rate as control target, a new brake force control allocation algorithm was introduced based on the constrained weighted least squares algorithm to optimize and coordinate each wheel＇s brake force so as to improve vehicle＇s lateral stability. In the case of braking failure or partial braking failure, the control system could optimize and coordinate the brake forces of the rest brake actuators by adjusting the control efficiency matrix promptly so as to keep the vehicle under control and therefore improve the reliability. The proposed control scheme was evaluated by TruckSim-MATLAB/Simulink co-simulation through a single-lane-change maneuver. The results show that the proposed control scheme can effectively improve the yaw stability of the tractor-semitrailer combination, and can reconfigure the rest actuators to continue to keep the vehicle under control in the case of braking failure.