| The Rear Wheel Compliance Steering(RWCS) is a passive steering technology without steering mechanism, it uses the vehicle driving wheel by lateral force curve and lateral elastic suspension with the rear wheel compliance steering. At present, the rear wheel steering technology has been applied in most cars. However, the research on the application of the rear wheel compliance steering technology in large vehicles is not much. In this paper with the RWCS technology is applied to the rear axle of the trailer, in order to improve the trajectory tracking of the trailer, and improve the dynamics performance of the trailer. The conclusion of the study is expected to servo steering technology in full drag to provide theoretical guidance and technical support for the application of trailer. The main conclusions of the main contents of this study and are as follows.(1) Research on dynamic modeling of full trailer. Based on the basic theory of vehicle dynamics, select magic formula tire model, respectively to establish the trailer rear axle with servo steering function and servo steering function of full drag trailers kinetic equation, and the traction vehicle sideslip angle, towing vehicle yaw angular velocity, trailer transverse swing angle speed, traction between the vehicle and the trailer of angle, the rear wheel of the trailer with angular motion and the follower angular velocity as the state variables are the trailer rear axle with servo steering function of full drag trailers equation of state.(2) Study on dynamic characteristics of full trailer. Based on the established full drag the dynamics equation of the trailer, the preparation of the corresponding Matlab / Simulink program, the simulation results in full drag the rear of the trailer with steering and with steering and trailer trajectory tracking and full trailer of the lateral dynamics performance. The results show that the trailer rear axle with compliance steering function of the vehicle, with better trajectory tracking and lateral dynamics performance.(3) Study on lateral stability of full trailer. In order to facilitate the calculation of the Routh criterion, a cubic nonlinear tire model is obtained by fitting the data of the magic tire model, and the corresponding nonlinear dynamic equations are established. According to the Routh criterion, the necessary and sufficient conditions for the stability of the equilibrium point are analyzed, and the stability of the trailer is compared with that of the Matlab/simulink platform. Studies have shown that Trailer with servo steering function of the trailer and that there is a critical value for a speed, when speed exceeds the critical value, full trailer will be in a state of instability, with the dynamic structure of the elastic element to pivot distance c2, tire center to pivot the longitudinal distance d2, with the dynamic stiffness of system k2 s of full trailer lateral stability has important influence.(4) With the dynamic parameters optimization based on genetic algorithm. Based on genetic algorithm, using Matlab write the corresponding algorithm procedures, the trailer rear axle with the dynamic mechanism of the four parameters, namely elastic element to the pivot distance c2, tire center to pivot the longitudinal distance d2, with system dynamic stiffness k2 s and with dynamic system damping coefficient cc, optimization of to improve has servo steering function full drag trailers trajectory tracking and lateral dynamics. |
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