半挂汽车列车挂车主动转向控制研究*

Automobile Technology - - 汽车技术 -

徐晓美 张磊 刘凯 陈宁210037) (南京林业大学,南京 【摘要】针对传统半挂汽车列车弯道行驶时,挂车的运动轨迹通常向弯道内侧偏移的问题,提出了一种挂车车轮主动转向控制方法,通过移位寄存器操作构建挂车的目标路径,根据实际路径与目标路径间的预瞄偏差量调整挂车车轮转角以减小路径偏差量。基于TruckSim 与 Simulink联合仿真平台开展了路径跟随性仿真,结果表明,所设计的控制器提高了挂车对牵引车路径的跟随性,而且显著减小了挂车铰接点和轮胎的侧向力,从而提高了车辆行驶的稳定性,减小了轮胎磨损。主题词:半挂汽车列车 路径跟随 挂车主动转向 联合仿真U469.5 A 10.19620/j.cnki.1000-3703.20180699中图分类号: 文献标识码: DOI: Research on Active Steering Control of Trailer Wheels for a Tractor-Semitrailer Xu Xiaomei, Zhang Lei, Liu Kai, Chen Ning Nanjing Forestry University, Nanjing 210037) ( Abstract The trailer of the traditional tractor- semitrailer usually deviates to the inner side of the curve road when【 】driving on the curve road. To solve this problem, an active trailer steering (ATS) control technology was proposed. A shift register was used to construct the target path of the trailer rear axle center. According to the predicted deviation between the actual path and the target path, the steering angles of the trailer wheels were adjusted to reduce the deviation. Simulation of the trailer path following for the tractor- semitrailer were carried out based on the co- simulation platform combining TruckSim and Simulink. Research results show that the designed controller not only improves the path following performance of the trailer effectively, but also decreases clearly the lateral forces acting on the trailer hinge joint and suffered by the trailer tires, which consequently improves vehicle stability and reduces tire wear. Key words: Tractor-semitrailer, Path following, Active Trailer Steering (ATS), Co-simulation

1 前言

半挂汽车列车具有车身总长度较大、牵引车与挂车间铰接式连接等特点,挂车对牵引车路径的跟随性能较差,特别是在交叉口和环形交叉口等转弯空间有限的城市交通环境下,挂车的运行轨迹会向弯道内侧偏移,严重时会剐碰弯道内侧的车辆和基础设施。此外,在此转弯过程中,挂车轮胎还承受较大的侧向力,致使轮胎磨损加剧。

针对上述问题,相关研究人员已开展了大量研究。研究发现[1],若能使挂车车轮转向,则可有效改善挂车对牵引车的路径跟随性能,从而提高车辆的通过性。目 前,使挂车车轮转向的方式主要有被动和主动两种。被动转向主要基于随动转向原理提出,较典型的研究如文

[2] [3]

献 和文献 提出的随动转向技术。随动转向虽可在一定程度上改善挂车的路径跟随性能,但因挂车车轮的随动转向角较小,因此其对挂车路径跟随性的改善程度有限。主动转向基于相应的控制策略,可根据实际路况主动改变挂车车轮的转动方向和转动角度,能极大地改善半挂汽车列车的路径跟随性[4- 6]。目前挂车车轮主动转向控制主要聚焦于其控制目标的选取与控制器的设计。由于路径跟随和车辆动态控制的复杂性,有些控制策略和控制器设计并不能满足路径跟随控制的要求。基于此,本文提出了一种源于驾驶员模型焦点预瞄思想

Newspapers in Chinese (Simplified)

Newspapers from China

© PressReader. All rights reserved.