中文摘要：

针对重型半挂车侧翻稳定性问题,建立了重型半挂车六轴模型,同时为了描述车辆的非线性特性,在车辆模型中加入非线性轮胎模型,并通过商业软件TruckSim进行模型验证。利用LQR最优控制技术,研究基于牵引车横摆角速度、侧向加速度及车辆铰接角的重型半挂车多目标稳定性控制策略,并在TruckSim和Matlab/Simulink联合仿真环境下进行算法仿真验证。仿真结果表明：提出的重型半挂车多目标稳定性控制策略可以有效提高车辆的行驶稳定性,从而避免危险事故发生。

英文摘要：

For the rollover stability of heavy tractor semi-trailer,six-axle vehicle model was set up.The nonlinear tire model was used in the real model simultaneously to describe the nonlinear characters of vehicle.The commercial software TruckSim was employed to testify the model.Multi-objective stability control strategy based on tractor yaw rate,lateral acceleration and articulated angle of vehicle was suggested by using LQR optimal control technique.It was also confirmed in the integrated co-simulation of TruckSim and Matlab/Simulink.The simulation results showed that the multi-objective stability control strategy over heavy tractor semi-trailer could effectively improve the stability of vehicle and avoid the occurrence of dangerous accidents.