摘要A nonlinear tractor-semitrailer vehicle simulation model is established based on TruckSim used to validate the proposed control scheme. The yaw dynamics of the entire vehicle is stabilized by applying differential braking to the wheels of the tractor and the trailer. The control system, which was designed in Matlab/Simulink, is a two-level structure with the upper yaw moment controller outputting an additional yaw moment and the lower control allocator realizing the additional yaw moment by appropriately coordinating the wheel brake actions of the tractor and the trailer. A Trucksim-Simulink co-simulation model is constructed, and based on which the proposed control scheme is validated by a single-lane change maneuver on a slippery road. Simulation results reveal that designing and evaluating vehicle stability control strategies with the TruckSim-Simulink co-simulation method is effective. The proposed control scheme can significantly improve the vehicle yaw stability and roll stability.
Abstract:A nonlinear tractor-semitrailer vehicle simulation model is established based on TruckSim used to validate the proposed control scheme. The yaw dynamics of the entire vehicle is stabilized by applying differential braking to the wheels of the tractor and the trailer. The control system, which was designed in Matlab/Simulink, is a two-level structure with the upper yaw moment controller outputting an additional yaw moment and the lower control allocator realizing the additional yaw moment by appropriately coordinating the wheel brake actions of the tractor and the trailer. A Trucksim-Simulink co-simulation model is constructed, and based on which the proposed control scheme is validated by a single-lane change maneuver on a slippery road. Simulation results reveal that designing and evaluating vehicle stability control strategies with the TruckSim-Simulink co-simulation method is effective. The proposed control scheme can significantly improve the vehicle yaw stability and roll stability.
基金资助:Supported by the National Natural Science Foundation of China (No.51005109)
通讯作者:
YANG Xiu-jian, yangxj@yahoo.cn
E-mail: yangxj@yahoo.cn
引用本文:
杨秀建, 康南, 李西涛. 基于TruckSim-Simulink联合仿真的半挂汽车列车稳定性控制研究[J]. Journal of Highway and Transportation Research and Development, 2013, 7(4): 103-110.
YANG Xiu-jian, KANG Nan, LI Xi-tao. Tractor-Semitrailer Vehicle Stability Control Based on TruckSim-Simulink Co-Simulation. Journal of Highway and Transportation Research and Development, 2013, 7(4): 103-110.
[1] RAINER R. Trailer Solutions for Economical Transport Business and Road Safety[J]. VDI Berichte, 2009, 2068:295-303.
[2] SONG Nian-xiu, SU Jian, WANG Dong-jie, et al. Analysis on Lateral Stability of Semi-trailer Train Running along a Curve[J]. Journal of Highway and Transportation Research and Development, 2010, 27(2):133-137. (in Chinese)
[3] YANG Xiu-jian, LI Yao-ping, XIONG Jian. Analysis on the Lateral Stability and Instability Mechanism of Tractor-Semitrailer Combination[J]. Automotive Engineering, 2011, 33(6):486-492. (in Chinese)
[4] HAC A, FULK D, CHEN H. Stability and Control Considerations of Vehicle-Trailer Combination[J]. SAE SP., 2008, 1228:925-937.
[5] XU Hong-guo, LIU Hong-fei, YU Zeng-liang. Overview of Tractor-Trailer Lateral Stability Study[J]. Journal of Highway and Transportation Research and Development, 2006, 23(2):141-146, 150. (in Chinese)
[6] CHEN L K, HSU J Y. Investigation of Jack-knife Prevention in an Articulated Scaled Vehicle[J]. Vehicle System Dynamics, 2008, 46(S):765-777.
[7] ZONG Chang-fu, LI Wei, ZHENG Hong-yu. A Control Algorithm of Braking Force Distribution for the Electric Braking System of Combination Vehicle[J]. Automotive Engineering, 2011, 33(10):885-889, 910. (in Chinese)
[8] ZONG Chang-fu, ZHU Tian-jun, WANG Chang, et al. Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking[J]. Chinese Journal of Mechanical Engineering:English Edition, 2012, 25(1):88-97.
[9] YANG Xiu-jian, YANG Chun-xi, ZHANG Xian, et al. Yaw Stability Control for Tractor-semitrailer Combination Based on Active Braking[J]. Automotive Engineering, 2011, 33(11):955-961. (in Chinese)
[10] Mechanical Simulation Corporation. TruckSim®User manual[M]. Ann Arbor:Mechanical Simulation Corporation, 2009.
[11] WANG J, LONGORIA R G. Coordinated and Reconfigurable Vehicle Dynamics Control[J]. IEEE Transactions on Control Systems Technology, 2009, 17(3):723-732.
[12] YANG Xiu-jian, WANG Zeng-cai, PENG Wei-li. Coordinated Control of AFS and DYC for Vehicle Handling and Stability Based on Optimal Guaranteed Cost Theory[J]. Vehicle System Dynamics, 2009, 47(1):57-79.
[1]
胡亚辉, 董皓, 张君安. 整体式梯形转向机构最优区域值计算及优化[J]. Journal of Highway and Transportation Research and Development, 2019, 13(2): 103-110.
[2]
张洪军, 王雪飞, 刘可可. 高速公路清扫车风机系统仿真及优化研究[J]. Journal of Highway and Transportation Research and Development, 2018, 12(4): 92-97.
[3]
吴初娜, 曾诚, 王艺颖. 弯道超速行驶对客车横向稳定性的影响[J]. Journal of Highway and Transportation Research and Development, 2017, 11(3): 79-85.
[4]
唐自强, 龚贤武, 潘勇, 唐超, 王玮琳. 基于行驶状态估计的车车协同纵向安全距离模型[J]. Journal of Highway and Transportation Research and Development, 2017, 11(2): 103-110.
[5]
李文亮, 周炜, 张禄, 曹琛. 考虑路面不平度和速度分布的用户目标载荷构建方法[J]. Journal of Highway and Transportation Research and Development, 2017, 11(2): 52-55.
[6]
张禄, 王云鹏, 任春晓, 刘婷洁. 机械零部件时变可靠性及其灵敏度分析[J]. Journal of Highway and Transportation Research and Development, 2016, 10(1): 104-110.
[7]
王书举, 潘一山, 张国胜, 崔海涛. 基于ECE R66法规的客车侧翻碰撞安全性分析[J]. Journal of Highway and Transportation Research and Development, 2015, 9(4): 97-101.
[8]
高晋, 牛子孺, 杨秀建, 张昆. 悬架控制臂液压衬套与整车平顺性关联分析[J]. Journal of Highway and Transportation Research and Development, 2015, 9(4): 102-110.
[9]
贾爱琴, 崔建锋, 陈建军, 高卫. 基于可靠灰色粒子群算法的汽车悬架参数的多目标优化设计[J]. Journal of Highway and Transportation Research and Development, 2015, 9(3): 102-110.
[10]
胡东海, 何仁. 基于电液复合制动系统的电动汽车再生制动控制策略研究[J]. Journal of Highway and Transportation Research and Development, 2015, 9(1): 105-110.
[11]
李翔晟, 陈斗, 周永军. 基于最小瞬时等效燃油消耗的液压混合动力车辆能量管理策略[J]. Journal of Highway and Transportation Research and Development, 2013, 7(3): 99-104.
[12]
张国胜, 李静红, 石慧奇, 代伟良. 轿车车身结构轻量化研究[J]. Journal of Highway and Transportation Research and Development, 2013, 7(1): 105-110.