A direct yaw moment differential braking control strategy based on fuzzy Proportion、Integral、Differential(PID)control is proposed for the dangerous situation of double-trailer train under high-speed overtaking condition,such as lateral instability,trailer folding and tail-throwing.Two kinds of lateral stability control strategies for differential braking were designed,namely sin-gle-control mode controlled only by tractor and multi-control mode controlled by both tractor and trailer,aiming at the lateral de-flection angle and yaw velocity deviation and deviation change rate of the TruckSim nonlinear model and the four-degree-of-free-dom linear model respectively.The effectiveness of the control strategy was verified through the co-simulation of MATLAB/Simu-link software and TruckSim software and the Hardware-in-the-Loop(HIL)platform.The results show that,in high-speed overta-king conditions,the lateral stability control system of multi-control vehicles is better able to reduce the lateral declination angle,yaw speed,articulated angle and Rearward Amplification(RWA)coefficient of the vehicle than that of uncontrolled vehicles and single-control vehicles,and is significantly better in improving the lateral stability of double-truck trains.
关键词
双挂汽车列车/直接横摆力矩控制/差动制动/模糊比例、积分、微分控制/硬件在环验证
Key words
double-truck train/direct yaw moment control/differential braking/fuzzy Proportion、Integral、Differential(PID)con-trol/hardware-in-the-loop validation
维普
万方数据