半挂汽车列车挂车主动转向控制研究  

Research on Active Steering Control of Trailer Wheels for a Tractor-Semitrailer

作　　者：徐晓美[1] 张磊[1] 刘凯[1] 陈宁[1] Xu Xiaomei;Zhang Lei;Liu Kai;Chen Ning(Nanjing Forestry University,Nanjing 210037)

机构地区：[1]南京林业大学,南京210037

出　　处：《汽车技术》2018年第11期36-40,共5页Automobile Technology

基　　金：国家自然科学基金项目(51605228);江苏省第十四批"六大人才高峰"项目(JXQC-025);南京林业大学青年科技创新基金项目(CX2016028)

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。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.

关 键 词：半挂汽车列车 路径跟随 挂车主动转向 联合仿真 

分 类 号：U469.5[机械工程—车辆工程]