Lateral Stability Control Of Semi-trailer Based On TruckSim And Simulink

At present,semi-trailer trains have become the main models in the field of transportation by virtue of economic and efficient advantages.At the same time,its safety and driving stability have also attracted more and more attention,especially in rain and snow slippery When driving,prone to slip,folding and other instability.In this paper,we first analyze the lateral stability of semi-trailer trains with low adhesion coefficient,and use the two phenomena of sliding and folding as the research target.At the same time,we build TruckSim nonlinear semi-trailer train model and Matlab / Simulink linear four-degree-of-freedom six-axle semi-trailer vehicle reference model,and a comparative verification.Followed by the semi-trailer train lateral stability control,the upper controller using fuzzy PID,respectively,separate control of tractors and semi-trailer yaw rate deviation,the decision of the additional yaw moment;lower controller according to the target brake wheel rules And braking torque to optimize the distribution rules,the output of each wheel required braking torque,and design based on the optimal slip rate of the logic threshold control to prevent the wheel lock.At the end of this paper,a joint simulation model of TruckSim and Simulink is established.Under the condition of low adhesion coefficient pavement,the double-shift line,the hook and the steering wheel angle are input into three cases.The simulation results show that the control scheme proposed in this paper can improve the lateral stability of the semi-trailer train with low adhesion coefficient and realize the research goal proposed in this paper.