| In this thesis, to solve the phenomenon of lateral instability occurring during the running of semi trailer transport vehicle, a five axle semi trailer vehicle is selected to carry out the research on lateral stability simulation test and control strategy.The main research work of this thesis is included as follows:(1) Semi trailer transport vehicle dynamics simulation model is established. The ADAMS, a kind of vehicle system dynamics simulation software, is used to establish a dynamics simulation model of the semi trailer transport vehicle. Then, according to a actual driving test, the same condition is selected to verify the validity of the simulation model. Simulation results show that: the model can simulate the whole process of semi trailer transport vehicles' lateral dynamics.(2) Lateral dynamic characteristic analysis of semi trailer transport vehicle. In this paper, the various factors affecting the semi trailer transport vehicles are analyzed during lateral instability occurs, focusing on the degree that structural parameters of vehicles, dynamic parameters and road parameters impact the lateral stability of semi trailer transport vehicles. Then lateral dynamic characteristics of semi trailer transport vehicle are integrally understood.(3) semi trailer transport vehicle lateral stability control strategy study. Based on the advantage of two kinds of algorithm, PID control and fuzzy control algorithm, a fuzzy PID control system is established. Based on fuzzy PID control algorithm, semi trailer transport vehicle lateral stability control strategy is designed. Collaborative simulation platform is established of the Adams vehicle model and MATLAB control system. Then the control performance of control strategy is verified by simulation experiments. |
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