半挂牵引车的安全隐患与解决方案研究

半挂牵引车在道路上行驶,驾驶员对车辆采取制动措施时,车辆由向前行驶到完全停止这一过程容易产生挂车侧滑、甩尾和主车扭头、回头的情况,造成车辆失控事故。基于半挂牵引车在行驶过程中采取制动措施后存在的上述现象,分析挂车发生侧滑、甩尾和主车发生扭头、回头的原因,指出半挂牵引车的牵引鞍(座)活动连接存在的潜在性安全隐患,并提出增设车辆防止回头装置的解决方案。     

全挂汽车列车瞬态转向特性的分析研究

由于全挂汽车列车的主车与挂车之间的相互作用，在转弯时，或在侧向力的作用下，常常导致主车、转向架和挂丰三者之间产生剧烈的周期性摆动现象。为研究解决这一问题，将全挂车列车简化为主车、牵引架和挂车前轴、挂车车身和挂车后轴三个部分，并建立了运动方程式，研究分析了全挂车列车转向时车辆各参数的瞬态响应。     

卡车拖车钩历史变迁兼评《商用汽车前端牵引装置》法规起草

自从卡车诞生以来,拖车钩已经成为卡车必不可少的零部件.卡车拖车钩按照位置可分为前端拖车钩和后端拖车钩,按照功能可分为拖车钩和专用牵引钩.拖车钩是指车辆自身出现故障、陷入泥潭等状况需要其它车辆牵引,或者其它车辆受困需要本车去牵引,只能用于短途低速行驶(10km/h以内);专用牵引钩是用于牵引全挂车的装置,必须要拥有缓冲、调整方向、定位等功能,可以用于高速行驶,但是随着半挂车逐渐取代全挂车,这种专用牵引钩除了某些特种车辆和军用车辆在使用以外,差不多已经退出了历史的舞台.本文所叙述的拖车钩是指前者.     

欧洲长型卡-挂组合列车的市场应用、相关法规及技术要点分析

长型卡-挂组合列车通过模块化的车辆组合，可显著提升运输效率、降低能耗、降低二氧化碳的排放，是值得探索的公路运输技术路线。据此，分析了欧洲长型公路列车的应用情况和相关的法规，对比探讨了各种组合方案，并结合欧洲各国的基础设施条件，从转弯半径、路桥承载等方面提出了一些技术要点和注意事项，介绍了牵引拖台、自转向车轴、主动倒车系统等相关装备的匹配和应用，为中国的公路列车发展作出一些积极的启示。     

多轴物流半挂商用汽车的制动系统及其趋势

半挂汽车又称汽车列车，是指一辆汽车（货车或牵引车）与一辆或一辆以上挂车的组合。载货汽车和牵引汽车为汽车列车的驱动车节，简称主车，而被主车牵引的从动车节称为挂车。     

关于牵引座与牵引销使用中存在问题的几点看法

半挂牵引车与半挂乍通过安装在牵引车上的牵引座与安装在半挂车上的牵引销相连接，组成半挂汽车列车。因此，在半挂汽车列车中牵引座与牵引销是两个十分重要的部件，其组合     

挂车手制动系统

1前言 牵引挂车在制动时比较容易发生侧滑或主挂车折迭等现象,极大地影响牵引挂车的安全性,主要是因为主车与挂车的制动匹配缺陷即挂车的制动相对主车滞后而引起挂车冲撞主车或挂车提前制动抱死车轮.随着汽车向大吨位、高速度方向发展,这些问题越来越多地困扰着汽车生产企业和广大用户.     

半挂牵引列车通道圆简化校核方法

通过几何简化半挂牵引列车通道圆试验模型,可以计算出列车内外侧关键点的转动半径,确定该列车组合的回转性能,可以更方便的匹配出符合国标的半挂牵引列车组合.     

双挂汽车列车操纵稳定性评价指标研究

为了确定双挂汽车操纵稳定性的评价指标并进行横向稳定性分析,在分析国外多挂汽车列车研究现状的基础上,分别总结了结构参数和使用参数以及各种主动控制策略对多挂汽车列车横向稳定性的影响。与中国汽车列车操纵稳定性评价方法相比,针对多挂汽车列车增加了后部放大系数(RWA)和轨迹偏移量(Off-tracking)2种横向稳定性评价指标;构建了横摆运动和侧向运动的双挂汽车列车动力学模型,仿真阶跃响应下各个车辆单元侧向速度、横摆角速度、侧向-横摆相轨迹、侧向加速度以及铰接角的变化,并分别计算以横摆角速度和侧向加速度为基准的RWA值,将计算结果与国外相关研究文献进行了比较。结果表明:当牵引车和一挂车的侧向速度最大值分别为1.15,0.89m·s~(-1)时,对应拖台和二挂车的侧向速度最大值分别为2.81,1.31m·s~(-1),证明其为双挂汽车列车发生失稳的主要影响因素;由横摆角速度、侧向加速度对应的RWA值分别为1.14和1.54可知,以侧向加速度为基准的RWA值更能反映车辆的后部放大状态;由牵引车与一挂车之间的铰接角为5.9°,拖台与二挂车之间的铰接角为9.6°,而一挂车与拖台之间的铰接角恢复到0可知,一挂车与拖台的链接形式比第5轮式的铰接形式更稳定,且恢复到稳定状态时间更短;研究结果可为双挂汽车列车操纵稳定性评价指标的确定及应用提供参考。     

让汽车列车越来越长——半挂牵引拖台（Dolly）简介

半挂牵引拖台的应用促进了汽车列车从简单的单挂模式向双挂甚至多挂模式发展,极大地提高了物流运输效率。但目前这种形式在中国还不能应用,本文对半挂牵引拖台分类、结构组成和功能,以及在北美、欧洲、澳大利亚等地区的应用情况进行了介绍,希望这种运输形式能够在中国得到发展和应用。     

新型半挂车悬浮式牵引装置

设计出一种安装于半挂车上的悬浮式牵引装置,能使半挂车与牵引车形成弹性连接,由此提高了半挂车的行驶平顺性,特别适用于特殊易损货物的运输。并重点介绍了该装置的结构、工作原理,以及弹性元件工作参数的计算。     

用于隧道建设的双向牵引半挂车的设计

由于隧道内部空间狭窄,运输管片或砂浆罐的普通半挂运输车在其中无法实现调头行驶,因此设计开发了双向牵引半挂车。该双向牵引半挂车在隧道内不用调头,在前后均可对其进行拖挂,方便施工,满足了工程需要。为了便于推广和应用,对该车主要部件的设计和选用进行了介绍。     

Design of a Stroke Dependent Damper for the Front Axle Suspension of a Truck Using Multibody System Dynamics and Numerical Optimization

Summary A stroke dependent damper is designed for the front axle suspension of a truck. The damper supplies extra damping for inward deflections rising above 4 cm. In this way the damper should reduce extreme suspension deflections without deteriorating the comfort of the truck. But the question is which stroke dependent damping curve yields the best compromise between suspension deflection working space and comfort. Therefore an optimization problem is defined to minimize the maximum inward suspension deflection subject to constraints on the chassis acceleration for three typical road undulations. The optimization problem is solved using sequential linear programming (SLP) and multibody dynamics simulation software. Several optimization runs have been carried out for a small two degree of freedom vehicle model and a large full-scale model of the truck semi-trailer combination. The results show that the stroke dependent damping can reduce large deflections at incidental road disturbances, but that the optimum stroke dependent damping curve is related to the acceleration bound. By means of vehicle model simulation and numerical optimization we have been able to quantify this trade-off between suspension deflection working space and truck comfort.     

半挂牵引车牵引座强度设计及整车稳定性分析

文章以半挂牵引车牵引座强度设计及整车稳定性分析为研究对象,首先对半挂牵引车牵引座工作原理进行了简单的介绍,随后对半挂牵引车牵引座强度设计优化进行了系统的探讨与分析,最后讨论了影响半挂牵引车整车稳定性因素,以供参考.     

半挂汽车列车直线行驶横向摆振研究

建立了双质心单轨半挂汽车列车数学模型,对某重型半挂汽车列车进行仿真,探讨了不同车速、不同装载条件及挂车轴距的变化对其直线行驶横向稳定性的影响。根据相似准则求得了某重型汽车列车模型,并对其进行了台架试验。试验结果与理论结果的对比分析表明,两误差较小,具有较好的一致性。     

Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model

This paper describes the coupling between a three degrees of freedom steering-system model and a multi-body truck model. The steering-system model includes the king-pin geometry to provide the correct feedback torque from the road to the steering-system. The steering-system model is combined with a validated tractor semi-trailer model. An instrumented tractor semi-trailer has been tested on a proving ground and the steering-wheel torque, pitman-arm angle, king-pin angles and drag-link force have been measured during steady-state cornering, a step steer input and a sinusoidal steering input. It is shown that the steering-system model is able to accurately predict the steering-wheel torque for all tests and the vehicle model is accurate for vehicle motions up to a frequency where the lateral acceleration gain is minimum. Even though the vehicle response is not accurate above this frequency, the steering-wheel torque is still represented accurately.     

半挂汽车列车高速紧急避障稳定性控制研究

分析了半挂汽车列车转向的特点,对其稳定性控制原理进行了研究,包括横摆角速度跟踪控制和防倾覆控制.在此基础上,建立了半挂汽车列车多体动力学模型,采用虚拟样机技术,对横摆角速度跟踪控制和防倾覆控制进行运动学与动力学仿真.结果表明,装用车辆动态控制系统后,提高了半挂汽车列车高速紧急避障时的操纵稳定性,因而,其避障行驶的极限条件大大宽松.     

Implementation and verification of adaptive longitudinal traction control

Human in the loop (HIL) simulation has experienced a significant increase in popularity in recent years. In this work, a novel approach to traction control is developed and implemented in a HIL environment, exploiting the significant advantages of framing the problem in a manner that more closely matches how a human expert drives a vehicle. An adaptive gradient ascent algorithm is at the heart of the proposed solution to longitudinal traction control. A real-time implementation of the gradient ascent algorithm is developed using linear operator techniques, even though the tyre–ground interface is highly non-linear. The adaptive traction control algorithm is based on two separate, but related, estimation algorithms that estimate both the instantaneous traction force and a unique predictive traction force model. This adaptive control algorithm, the necessary estimation algorithms and their real-time implementation are described in this work. The results, when implemented as a driver assist application on a 6-DOF motion platform, with a HIL, are also presented. This work demonstrates the utility of a 6-DOF motion platform in developing and verifying vehicle control algorithms with a HIL.     

Implementation of active steering on longer combination vehicles for enhanced lateral performance

A steering-based controller for improving lateral performance of longer combination vehicles (LCVs) is proposed. The controller steers the axles of the towed units to regulate the time span between the driver steering and generation of tyre lateral forces at the towed units and consequently reduces the yaw rate rearward amplification (RWA) and offtracking. The open-loop effectiveness of the controller is evaluated with simulations and its closed loop or driver in the loop effectiveness is verified on a test track with a truck–dolly–semitrailer test vehicle in a series of single- and double-lane change manoeuvres. The developed controller reduces the yaw rate RWA and offtracking considerably without diminishing the manoeuvrability. Furthermore, as a byproduct, it decreases the lateral acceleration RWA moderately. The obtained safety improvements by the proposed controller can promote the use of LCVs in traffic which will result in the reduction of congestion problem as well as environmental and economic benefits.     

Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systems

In this article, vehicle dynamics integrated control algorithm using an on-line non-linear optimization method is proposed for 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems. The proposed distribution algorithm minimizes work load of each tire, which is controlled to become the same value. The global optimality of the convergent solution of the recursive algorithm can be proved by extension to convex problems. This implies that theoretical limited performance of vehicle dynamics integrated control is clarified. Furthermore, the effect of this vehicle dynamics control for the 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems is demonstrated by simulation to compare with the combination of the various actuators.