Active Steering Control Strategy Of Road Train Based On Robust Control

With the rapid development of logistics economy,as well as the logistics of transport economy and environmental protection requirements,road train occupancy will be greatly improved.Traffic accident caused of road train also has huge concern,this is due to road train of body is too long in the driving process,also with the trailer doesn't have steering capacity,so it can't track the tractor well,then increasing the through width of the road train;while due to hinged of the section body has coupled role,road train will appeared tail zoom phenomenon;so train has lower mobility and direction stability performance.Commonly in passenger car active steering,which greatly improved the vehicle's maneuverability and stability,Based on this,the study of active steering on the road train become more and more.This Paper through corresponding of assumed and linear processing,established linear four freedom road train model;selected a brand model of B-train as research object,then established B-train model in the simulation software named TruckSim;According to SAEJ2179 test standard,two road environment has been selected,completed in different workers condition,the matching analysis of linear four freedom car train model and the TruckSim Btrain model has been done.Through the simulation analysis of Matlab/Simulink and TruckSim,maked an analysis of the LQR control strategy based on the linear four degree of freedom vehicle model,LQR optimal controller The LQR optimal controller has good performance.In the design progress of LQR control strategy,didn't take into account the uncertainty of the system,Such as taking into account the parameter change of the system under the conditions of uncertainty.So the mixed2H/ H_?robust controller designed through simulation,the comparative analysis of complete and robust LQR controller,and the robust controller get better performance than the LQR controller.