如何提高轮转向全挂车行驶稳定性

介绍了双轴全挂车的设计要求、设计原理，并针对全挂车高速行驶过程中容易产生的摆振、转向轮回正能力差等问题及其产生原因作了详细分析。     

军用挂车的牵引与转向分析

介绍了军用 半挂车，全挂车的牵引装置和转向机构的结构型式，提出了实际行驶过程中可能出现的问题，对轮转向全挂车作了重点分析。     

挂车车架的焊接结构设计

介绍了挂车车架的结构特点，失效形式，并对失效原因进行分析，进而对挂车车架的焊接结构提出了行之有效的设计方案。     

超重型可拼装式全挂车设计

超重型可拼装式全挂车可满足超重、超长、超高货物的运输要求，采用拼装式结构可根据所运货 需要随时拼装成满足运输要求的全挂车，文中所述的可拼装式全挂车车架结构简单，可拼装成８种挂车方式，采用液压悬架系统、可升降式平台、机械式全轮转向系统，承载范围为８０ｔ～４００ｔ。     

多轴全挂车转向系的理论分析与设计

介绍了多轴全挂车转向系操纵机构的工作原理、结构型式、参数优化设计、误差分析,及其应用实例。     

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。     

基于WIFI的挂车手机遥控系统研究

针对挂车远程操作升降和转向的需求,分析了挂车升降和转向的控制原理,设计了一套手机遥控系统和一款手机应用程序,采用无线局域网技术和CAN总线技术,实现了手机操纵挂车升降和转向,达到了设计要求。     

多轴液压挂车转向角期望值的确定

介绍了目前多轴线挂车设计中普遍采用的转向角期望值的确立方法并指出其存在的问题,引入了牵引距、转向距等概念,给出挂车列车在无侧滑的纯滚动要求下目标转角的正确计算方法,对某型挂车的转向实例进行了分析并作出结论。     

分布驱动轮式车辆差动转向动力学特性研究

针对现有轮式车辆差动转向理论中未考虑胎体扭转特性和稳态差动转向动力学特性的问题,结合分布驱动轮式车辆结构特点,进行基于轮胎扭转和侧偏特性的轮式车辆差动转向动力学特性研究。通过建立单轴和双轴分布驱动轮式车辆动力学模型,分析轮胎与路面相互作用机理和稳态差动转向形成过程;讨论胎体扭转和横向变形引起的车轮回正力矩与侧偏力、侧向外力和车辆结构尺寸等对车辆稳态差动转向过程的影响。结果显示,轮胎扭转迟滞及其产生的回正力矩对稳态差动转向影响较大;双轴轮式车辆差动转向过程为侧偏与侧滑的耦合作用,其差动转向的必要条件为轮距大于轴距。     

一种新型地下坑道作业电动专用车

介绍了一种可双向驾驶、单/双轴电驱动和四轮转向的新型地下坑道作业电动专用车的特点、功能、结构和整车能量管理及控制方式。     

Lateral Control of Commercial Heavy Vehicles

Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral stability and furthermore reduce tracking errors of the trailer, braking forces are independently controlled on the inner and outer wheels of the trailer. The coordinated steering and braking control algorithm is designed based on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steering and independent braking force control are much smaller than those without independent braking force control.     

Lateral Control of Commercial Heavy Vehicles

Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral stability and furthermore reduce tracking errors of the trailer, braking forces are independently controlled on the inner and outer wheels of the trailer. The coordinated steering and braking control algorithm is designed based on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steering and independent braking force control are much smaller than those without independent braking force control.     

High-speed optimal steering of a tractor–semitrailer

A high-speed optimal trailer steering controller for a tractor–semitrailer is discussed. A linear model of a tractor–semitrailer with steered trailer axles is described, and an optimal trailer steering controller is introduced. A path-following controller is derived to minimise the path-tracking error in steady-state manoeuvres using active trailer steering. A roll stability controller is introduced by adding the lateral acceleration of trailer centre of gravity as another objective in the steering controller, so as to improve roll stability in transient manoeuvres. A strategy to switch between these two control modes is demonstrated. Simulation results show that the steering controller can ensure good path tracking of articulated vehicles in steady-state manoeuvres and improve roll stability significantly in transient manoeuvres, while maintaining the path-tracking deviation within an acceptable range. Tests with an experimental tractor–semitrailer equipped with a high-bandwidth active steering system validate the controller design and simulation results. The roll stability controller reduces the measured rearward amplification by 27%.     

Estimation of trailer off-tracking using visual odometry

High-capacity vehicles have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off-tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11–0.12?m (3.3–3.6%) were obtained in a challenging visual environment.     

全挂车轮转向装置设计

全挂车转向装置分为轴转向和轮转向两种形式，由于轮转向两种形式。由于轮转向装置转向角度小，制造工艺复杂。成本高，一般较少应用。便全挂车采用轮转向装置可降低车厢地板高度，且其机动性较轴转向全挂列车好，推导了轮转向传动连杆机构的解析关系式及优化设计目标函数和约束条件，并给出了相应算例。     

Stabilization of Passenger Car-Caravan Combination Using Four Wheel Steering Control

This study aims to stabilize the trailer at high speed. The behavior of passenger cars with four wheel steering system, vehicles with rear wheel steering and of trailer and passenger car are similar. This is regarded as an optimal regulator problem with linear equation of motion, and a state variables feedback control system is adopted. The problem of stability at high speed on a straight course can be solved. Therefore, the passenger car-trailer system can be stabilized. Furthermore, this study indicates the way forward to stabilize a passenger car-trailer system.     

拖挂式房车制动稳定性的研究

在建立6自由度拖挂式房车转弯制动数学模型的基础上,对拖挂式房车的制动过程进行了仿真计算,分析了转向角、转向角速度和房车车轮制动力对房车横摆角速度的影响以及各参数之间的协调优化。为寻求房车车轮制动力与转向角、转向角速度、制动时间等因素的最优关系,达到拖挂式房车在行驶过程中实时控制房车制动力,提高拖挂式房车行驶的稳定性奠定了基础。     

液压组合挂车转向机构换位孔的可制造化处理

根据任意轴线下液压模块式组合挂车转向系统的优化设计原理,通过合并法、分开法、综合法三种孔位处理方法,实现了对优化后的换位孔的可制造化处理,取得了满意的效果。