| As one of the most important products of motor vehicles,semi-trailer train has been applied in many fields,such as highway passenger and freight transportation,industry and agriculture transportation and military transportation.However,compared with the passenger car,there is less research on the safety of heavy duty vehicles(including semi-trailer train).The main dangerous phenomena of the semi-trailer train under the condition which combined steering and braking,including the folding of the vehicle body,the rollover of the vehicle body and the lateral vibration of the semi-trailer..Therefore,the research on the ABS of semi-trailer train is becoming a potential research direction for the current vehicle safety research.Based on the research process and the present situation of ABS for semi-trailer train,clarified the purpose and main work of this paper.Firstly,building a 12-DOF kinetic model of the semi-trailer train which can accurately reflect the force of semi-trailer train under braking conditions based on the object of study,this paper combines the Dugoff tire mechanical model,the mechanical analysis of the traction seat and air braking system model,building the kinematic equation of semi-trailer train under braking conditions.Control strategy of the ABS is also researched,the braking torque and the slip rate are plotted.This paper analyzes the control strategy of ABS for the semi-trailer train,and using the logic gate limiting value control which based on wheel slip rate and acceleration and deceleration of wheel,to analyze the control process and the associated road surface feature identification technology under different adhesion coefficient road conditions.Finally,with a semi-trailer train as the object of study,based on the VC ++ 6.0 visualization platform,to write a simulation program which analyzing the semi-trailer train under the combined steering and braking condition,the simulation program can adjust a variety of models,including the speed,steering shaft angle,the road attached to the state and the brake action delay time and other adjustment factors.According to the two different situations of semi-trailer trains in the installation of ABS,using the simulation program to simulate the braking process,which is mainly simulate the high and low two different attachment coefficient road simulation results,compare the results of simulating,which include the semi-trailer train's speed,wheel speed,the wheel's angular acceleration,the tire's slip rate,the braking distance related to whether to install the ABS.Analyzing the output results,and the effectiveness and feasibility of the proposed control method are proved by the analysis of the typical unstable conditions of semi-trailer train. |
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