Research Of Anti-Rollover Control Of Heavy Tractor Semi-Trailer Based On Trucksim Software

In recent years, heavy vehicles such as the tractor semi-trailer had very big development. It has good characteristics of high transport efficiency and economic benefits, so it is widely used and has become one of major road freight transport. With the continuous development of China’s transportation industry, major traffic accidents such as vehicle rollover or folding continue to increase. The research shows that because the center position of heavy tractor semi-trailer is on the higher side, the quality and volume is larger, the wheelbase is longer and the wheel base is narrower, rollover accident or folding happen easily. It is very necessary to develop an anti-rollover stability control system to avoid rollover prevention or to avoid accident of folding occurring frequently.This article revolves around the theme of running posture monitoring and the rollover control of heavy tractor semi-trailer. It starts research from three aspects. The first aspect is to use TruckSim software to model for the vehicle. The second aspect is to put forward the strategies of the rollover control of the heavy semi-trailer car. The third aspect is to use MATLAB/Simulink software to establish anti-rollover stability controler.First of all, according to the needs about stability control of the heavy tractor semi-trailer, we can use TruckSim software to establish the vehicle model, and analyze vehicle’s movement and stress distribution while rollover and yawing instability. The vehicle model includes steering system, tires systems, suspension systems, braking systems, power transmission system and air dynamics system and so on. Secondly, put forward the rollover control strategy of the heavy tractor semi-trailer. To realize the goal of the rollover stability control, this paper makes the wheel lateral load transfer rate, folding angle, lateral acceleration, yaw angular velocity and folding angular velocity as control variables. We can use the wheel lateral load transfer rate to determine the vehicle’s roll condition, providing the basis for anti-rollover stability control. And yaw angular velocity and lateral acceleration are used to estimate the heavy tractor semi-trailer folding angle and nominal yaw angular velocity to judge too much understeer and steering trend of tractor, to achieve yaw stability control objectives.Finally, this paper establishes rollover stability control system of the heavy tractor semi-trailer using of MATLAB/Simulink software, which respectively include rollover prevention control system, yaw stability control system, anti-lock braking control system.Based on the above research contents, this article uses the joint simulation method of TruckSim software and MATLAB/Simulink software, and then develops our own heavy tractor semi-trailer’s simulation platform. Using the simulation platform, we can test heavy tractor semi-trailer’s rollover stability control. The test results show that the rollover stability control system can make anti-rollover stability control effectively, so as to avoid the accidents of rolling, folding and yawing lose control of heavy tractor semi-trailer.