Research on lateral stability control of trailer-mounted recreational vehicle
To ensure the lateral stability of trailer-mounted Recreational Vehicle(RV)braking,we develop a differential braking control strategy with yaw velocity as the control target.Considering the electromechanical coupling characteristics of the electromagnetic brake,we build a dynamic model of the trailer-mounted RV and design a control algorithm based on fuzzy PID to obtain additional yaw torque.A reasonable braking torque distribution strategy is adopted to achieve good lateral stability of the trailer-mounted RV.Simulations are conducted in the TruckSim/Simulink co-simulation model and the designed controller prototype performs test verification on a real vehicle.Both our simulations and test results show our strategy maintains fairly good lateral braking stability.Moreover,the yaw damping of the vehicle before and after the control is 0.172 5 and 0.288 6 respectively,and the vibration amplitude of the hinged angle is markedly reduced,improving the vehicles'lateral stability.
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