|
|
|
| Design of differential braking control system of travel trailer based on multi-objective PID |
| 1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 3. SAIC MAXUS Co., Ltd. Nanjing Branch Company, Nanjing, Jiangsu 211103, China |
|
|
|
|
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％.
|
|
Received: 22 February 2019
|
|
|
|
| ［1］ |
NILSSON P, TAGESSON K. Single-track models of an A-double heavy vehicle combination［R］. Gteborg:Chalmers University of Technology, 2014:1-16.
|
| ［2］ |
杨炜,马浩越,郭祥靖. 基于TruckSim与Simulink联合仿真的半挂汽车列车横向稳定性控制［J］. 中国科技论文, 2018,13(4):390-398.
|
|
YANG W, MA H Y, GUO X J. Semi-trailer lateral stability control based on TruckSim and Simulink co-simulation［J］. China Sciencepaper, 2018,13(4):390-398. (in Chinese)
|
| ［3］ |
龙佳庆,韦超毅. 基于滑模变结构控制法的半挂汽车列车高速行驶稳定性研究［J］. 广西科技师范学院学报, 2016, 31(2):142-144.
|
|
LONG J Q, WEI C Y. The research on the high speed stability of the semi-dragging trucks based on the sliding mode variable structure control［J］. Journal of Guangxi Science and Technology Normal University, 2016, 31(2):142-144. (in Chinese)
|
| ［4］ |
张义花. 双挂汽车列车横向失稳机理分析及在环控制策略研究［D］. 长春:吉林大学, 2017.
|
| ［5］ |
LI B, RAKHEJA S. Jackknifing prevention of tractor-semitrailer combination using active braking control［C］∥Proceedings of the 2015 SAE Commercial Vehicle Engineering Congress. ［S.l.］:SAE International,doi:10.4271／2015-01-2746.
|
| ［6］ |
KIM K, GUAN H, WANG B, et al. Active steering control strategy for articulated vehicles［J］. Frontiers of Information Technology and Electronic Engineering, 2016, 17(6):576-586.
|
| ［7］ |
MORAN A. Autonomous path following of truck-trailer vehicles using linear-fuzzy control［C］∥Proceedings of the 2017 3rd International Conference on Control, Automation and Robotics. Piscataway:IEEE, 2017:651-657.
|
| ［8］ |
刘春辉,关志伟,杜峰,等. 四轮转向半挂汽车列车横向稳定性的模糊PID控制［J］. 现代制造工程,2016(7):47-50.
|
|
LIU C H, GUAN Z W, DU F, et al. The fuzzy PID direct yaw-moment control of four-wheel steering tractor-semitrailer［J］. Modern Manufacturing Engineering, 2016(7):47-50. (in Chinese)
|
| ［9］ |
于志新,程新新,李杰,等. 基于MPC的重型液罐车侧向稳定性控制仿真［J］. 长春工业大学学报, 2018, 39(3):224-232.
|
|
YU Z X, CHENG X X, LI J, et al. Simulation analysis of lateral stability for liquid tank truck based on model predictive control(MPC)［J］. Journal of Changchun University of Technology, 2018, 39(3):224-232. (in Chinese)
|
| ［10］ |
刘春辉,关志伟,杜峰,等. 半挂汽车列车横向稳定性鲁棒H∞最优控制［J］. 现代制造工程, 2016(5):25-29.
|
|
LIU C H, GUAN Z W, DU F, et al. The robust H∞optimal control of tractor-semitrailer steering stability［J］. Modern Manufacturing Engineering, 2016(5):25-29.(in Chinese)
|
| ［11］ |
邢栋. 基于神经网络的半挂汽车列车稳定性控制研究［D］. 长春:长春工业大学, 2016.
|
| ［12］ |
苏楠. 半挂汽车列车转弯制动控制策略研究［D］. 西安:长安大学, 2017.
|
|
|
|
2020, Vol. 41 
