| Tractor-semitrailer vehicle which is the combination of a tractor and a semitrailer, has become’section carring’,"ro/ro transportation" and "throw-off carring" ideal models with its large transportation volume, high efficiency and economical transportation, very extensive application. However, The traffic accidents caused by tractor-semitrailer vehicle is increasing, although it take a significant increase in economic benefits. Compared with the two-axis monomer vehicle, the movement of tractor and semi-trailer of the tractor-semitrailer vehicle coupled with each other, the forms of instability are more complex, during transport it’s usually appears "Jack-knifing","lateral sway " and "trailer oscillatory" lateral instability.This paper mainly studies the problem of tractor-semitrailer vehicle yaw stability control based on active braking. A nonlinear tractor-semitrailer vehicle simulation model is established based on TruckSim to validate the proposed control scheme, given the co-simulation implementation process of TruckSim and Matlab/Simulink: The basic principle and design method of tractor-semitrailer vehicle yaw stability control is discussed. Proposed the stability control strategy based on tractor and semitrailer yaw stability control independently, adopt single wheel brake to achieve, design the braking wheel selection rules, and study the problem of the target braking wheel slip ratio control affect the lateral stability control. The control system is designed in Matlab/Simulink, the validity and reliability of the control system is verified by the form of Trucksim-Simulink.Because of the tractor-semitrailer vehicle operation condition is complex, there may be one or some brake actuator is part failure or complete failure. The control system of tractor-semitrailer vehicle active yaw moment based on a wheel selection rules may can not provided the desired braking force, in this case, the control system become bad on improving the lateral stability of the tractor-semitrailer vehicle. A new brake force control allocation algorithm is introduced based on the constrained weighted least squares (CWLS) algorithm and design a reconstruction optimization algorithm to optimize and coordinate each wheel’s brake force to improve vehicle’s lateral stability quality,. In the case of actuator failure or partial failure, the control system still can optimize and coordinate the brake forces of the rest brake actuators by adjusting the control efficiency matrix online to keep the vehicle under control and therefore improve the reliability quality. The control system is designed in Matlab/Simulink, the validity and reliability of the control system is verified by the form of Trucksim-Simulink. |
PDF Full Text Request