Tractor semi-trailers are increasingly playing an important role in freight transportation worldwide. Although most tractor semi-trailers are equipped with a passive anti-roll bar system, however accidents involving this type of vehicle are still frequent and have serious consequences. This paper presents an H∞ controller design for an active anti-roll bar system in order to enhance the roll stability of a tractor semi-trailer with the torque control generated at all axles. The considered performance outputs include the lateral acceleration, the normalised load transfer for both tractor and semi-trailer, as well as the magnitude of the torque control to avoid the actuator’s saturation. The effectiveness of the proposed method is evaluated in the frequency domain via the transfer function magnitude from the steering angle to the survey signals, and in the time domain through the nonlinear vehicle model of TruckSim^® software. The evaluation results show that the roll stability of the tractor semi-trailer using the H∞ active anti-roll bar system has improved by more than 20% compared to a passive vehicle.

拖拉机半挂车在世界范围的货运中越来越重要。尽管大多数半挂牵引车都配备了被动式防侧倾杆系统，但是此类车辆的事故仍然很频繁，并且会带来严重的后果。本文提出了一种用于主动防侧倾杆系统的H∞控制器设计，目的是通过在所有车轴上产生扭矩控制来增强半挂牵引车的侧倾稳定性。所考虑的性能输出包括横向加速度，牵引车和半挂车的标准化负载传递，以及避免执行器饱和的扭矩控制幅度。通过从转向角到测量信号的传递函数幅度，在频域中评估了所提出方法的有效性，^®软件。评估结果表明，与无源车辆相比，使用H∞主动防倾杆系统的半挂牵引车的侧倾稳定性提高了20％以上。