Control strategy of lateral stability of semi-trailer train in dangerous section of cold area
Aiming at the problems of folding,tail-flicking and rollover of the semi-trailer train in the dangerous section of the mountain highway in the cold area,taking a domestic semi-trailer train as the research object,the dynamic mathematics of the six-degree-of-freedom semi-trailer train is established based on the vehicle dynamics theory model.Using Truck-sim to complete the establishment of the semi-trailer train vehicle model and dangerous road section model,according to the principle of semi-trailer train rollover and yaw instability,determine the judgment conditions for semi-trailer train rollover and yaw instability.Taking the difference between the ideal state parameters and the actual state parameters of the semi-trailer train as the control target,a control strategy for the anti-rollover and yaw instability of the semi-trailer train based on the tinear quadratic regutator(LQR)control algorithm and differential braking is established with the help of Simulink.For a typical dangerous section of the expressway,changing the road adhesion coefficient corresponds to the road surface under different actual conditions.The scene reconstruction is completed by the co-simulation of Truck-sim and Simulink,and the simulation test of the proposed control strategy is carried out.The results show that:on the S-shaped curve of the K398-K406 section of the Hamu Expressway,when the road adhesion coefficients is 0.1,0.25 and 0.35,the maximum value of the tractor roll angle can be reduced by 0.05°,0.04° and 0.1 °.The maximum value of the trailer roll angle decreases by 0.04°,0.01° and 0.1°.When the road adhesion coefficient is 0.35,the decrease range is the largest,which are 40%and 23.26%respectively.On the curved slope of the K273-K274 section of Hamu Expressway,when the road adhesion coefficient is 0.1,the control strategy effectively prevents the vehicle from rolling over.When the road adhesion coefficient is 0.25 and 0.35,the maximum value of the roll angle is reduced by 0.04° and 0.02° under the control strategy,corresponding to reductions of 16%and 3.92%.The control strategy can effectively reduce the peak value of lateral acceleration,yaw rate and roll angle of the tractor and semi-trailer,especially for the control of roll angle,which can avoid the danger of rolling over when the semi-trailer train is towed on the curved road in icy and snowy weather.
vehicle engineeringsemi-trailer traindangerous sections in cold arealateral stabilitycontrol strategy
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