基于差动制动的单拖挂汽车列车道路跟踪控制

对汽车列车的运动特点进行了研究,建立了考虑铰接角的单拖挂汽车列车驾驶员模型;对挂车制动时车辆运动状态的变化进行了分析,设计了基于差动控制的道路跟踪控制器,建立了基于Simulink和Trucksim的联合仿真模型,验证了双移线工况下模型的路径跟随性和行驶稳定性。结果表明:基于差动制动的单拖挂汽车列车道路跟踪控制器,与单点最优预瞄驾驶员模型控制器和考虑铰接角的驾驶员模型控制器相比,转向过程更加平稳,提高了路径跟踪能力,降低了侧向加速度峰值,提高了行驶稳定性。

Tracking Control of Single-trailer Articulated Vehicle Based on Differential Braking Technology

The movement characteristics of articulated vehicles were studied,and a single-trailer articulated vehicle driver model considering the articulated angle was established.The influence of trailer braking on vehicle motion state was analyzed,and a road tracking controller based on differential control technology was designed.A joint simulation model based on Trucksim and Simulink software was built to verify the path following and driving stability of the model under double shifting conditions.The results show that,compared with the single-point optimal preview driver model and the driver model considering the articulated angle,the road tracking controller for a single-trailer articulated vehicle based on differential braking technology has a more stable steering process,and it improved the trajectory tracking ability,reduced the lateral acceleration peak and improved the driving stability.