Simulation And Research Of The Handing And Stability Of Tractor Semi-Trailer

With the vigorous development of China’s logistics industry, the number of semi-trailer, transporting more goods in the middle and long distance, is growing. Semi-trailer with its transport capacity, low cost advantages and high economic efficiency, has gradually become one of the important and indispensable carrier to promote economic development and improving people’s life. At the same time, semi-trailer accidents have taken up an increasing share of the total number of serious traffic accidents. Therefore, Tractor semi-trailer steering stability study has become increasingly serious. Semi-trailer train of the special structure, in the process of moving, stress is complicated, under the limit condition of real vehicle test has very big limitation and risk, Using virtual technology to analysis all kinds of working condition of vehicle performance, become a kind of practical and safe means of test.This paper, firstly, summarizes the relevant vehicle handling and stability studies at home and abroad. Then, based on a company’s tractor-semitrailer, sets up simulation model by using the TruckSim software.Secondly, based on the simulation model, do the train tractor-semitrailer steady turning test by changing the corresponding parameter. Study the influence of the train tractor-semitrailer’s turning characteristics in different structure parameter. Simulation results show that the turning characteristics has improved by increasing the tractor’s quality appropriately, lengthening the distance of the tractor’s axis, lengthening the distance between the trailer’s axis and the trailer’s wheels, reducing the trailer’s quality, reducing the distance between the tractor’s hinged joint and the front wheels. In the steering wheel Angle step input test, the way of the simulation test is to change the parameters of the tractor and the trailer. Results show that the handling and stability characteristics has improved by increasing the tractor’s quality appropriately, lengthening the distance of the tractor’s axis, lengthening the distance between the trailer’s axis and the trailer’s wheels, reducing the trailer’s quality, reducing the distance between the tractor’s hinged joint and the front wheels.Finally, sets up the Simulink control model based on the sliding mode variable structure’s differential braking. Use TruckSim software and MATLAB/ Simulink software to joint control the simulation. Uses the steering wheel sine angle input to simulate the condition of the high speed shimmy, record the vehicle attitude and compare to the way without the joint control. Simulation results show that the sliding mode variable structure controller can reduce the yaw angle speed to reduce high speed shimmy in the condition of high speed driving, and improve the tractor semi-trailer’s driving stability.