Abstract：To achieve good yaw stability and trajectory of travel trailer during braking, a differential braking control method was proposed to optimize the hinged angle and the yaw angular velocity performance for the travel trailer. Considering the electromechanical coupling characteristics of electromagnetic brake, a 6 DOF tractor-travel trailer braking model was established. The model of articulation angle of travel trailer in steady state was established, and the multi-objective PID weighted control algorithm and the multi-objective PID coordinated control algorithm were introduced. The principle of differential braking was applied to control the yaw moment and make the articulated angle and yaw velocity of travel trailer accurately follow the expected value of the target, and the good trajectory and yaw stability was achieved during the braking of travel trailer. Based on the co-simulation of TruckSim and Simulink, the simulation tests of step and pulse steering were carried out. The simulation results show that weighted control and coordinated control can guarantee the tractor trailer with good trajectory and yaw stability during braking. Compared with non-differential braking control, the two control algorithms can reduce the relative yaw rate of travel trailer by about 25％. Compared with the differential braking with yaw rate as control target, the trajectory deviation of travel trailer under the two control algorithms is reduced by about 20％.
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2020, Vol. 41 
