基于TruckSim-Simulink联合仿真的半挂汽车列车稳定性控制研究

doi:10.3969/j.issn.1002-0268.2013.03.024

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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.

Key words： automobile engineering vehicle dynamics tractor-semitrailer vehicle vehicle active safety co-simulation TruckSim

Received: 12 January 2013

Fund:Supported by the National Natural Science Foundation of China (No.51005109)

Corresponding Authors: YANG Xiu-jian, yangxj@yahoo.cn E-mail: yangxj@yahoo.cn

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	YANG Xiu-jian
	KANG Nan
	LI Xi-tao

Cite this article:

YANG Xiu-jian,KANG Nan,LI Xi-tao. Tractor-Semitrailer Vehicle Stability Control Based on TruckSim-Simulink Co-Simulation[J]. Journal of Highway and Transportation Research and Development, 2013, 7(4): 103-110.

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http://manu27.magtech.com.cn/Jwk_gljtkj_en/EN/10.3969/j.issn.1002-0268.2013.03.024 OR http://manu27.magtech.com.cn/Jwk_gljtkj_en/EN/Y2013/V7/I4/103

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