Trailer, steering control method for same, controller and steering system of trailer

Abstract

A steering control method for a trailer includes firstly, controlling steering of front wheels of a tractor and acquiring deflection angles theta 1 of inner steering front wheels of front wheels of the tractor and an included angle alpha between a longitudinal central vertical plane of the tractor and a longitudinal central vertical plane of the trailer; and secondly, controlling steering of other pairs of steering wheels of the trailer, so that deflection angles of various other inner steering wheels on the tractor meet an inequality of arctan [(Li / L1)Xtan(theta 1)-3 degrees]< / =theta i< / ={arctan[(Li / L1)Xtan(theta 1)]+3 degrees, and deflection angles of various inner steering wheels on the trailer meet an inequality of [alpha-arctan(Z / P)-3 degrees]< / =theta j< / =[alpha-arctan(Z / P)+3 degrees]. The invention further provides a controller, the trailer and a steering system of the same. The steering control method, the controller, the trailer and the steering system have the advantages that the various wheels of the trailer can at least rotate around the same steering central area, abnormal abrasion to tires is obviously relieved, and the steering stability and the passing ability of the trailer are improved.

Description

technical field [0001] The invention relates to a vehicle steering method, in particular to a steering control method of a trailer. Meanwhile, the present invention relates to a controller that can be used in the steering control method of the trailer. Further, the present invention relates to a trailer steering system for implementing the trailer steering control method. In addition, the invention also relates to a trailer comprising the steering system of the trailer. Background technique [0002] Trailers are mainly used for long-distance transportation or special equipment transportation. As the volume and weight of these vehicles increase, especially the increase in the length of the vehicle, the requirements for the load capacity and the overall wheelbase of the vehicle are increasing. [0003] Typically, trailers are mainly divided into full-trailer trailers and semi-trailer trailers, for example, see figure 1 with figure 2 As shown, the full-trailer trailer is ...

AI Technical Summary

Problems solved by technology

However, since the wheels of the trailer and the rear wheels of the tractor do not turn or have a small turning angle (formed by the torsion of the suspension), they can only follow the steering, so it is difficult to make each wheel rotate around a center of rotation instantaneously. Specifically, see image 3 As shown, in the steering process, according to the difference in the deflection angle of the front wheels of the tractor A1, the rotation axes of the left front wheel and the right front wheel can form the rotation centers Oa, Ob and Oc on the rotation center position line B, but due to the traction The rear wheels of the vehicle A1 and all the wheels of the trailer A2 are non-steering axles, and these wheels themselves do not deflect. Due to the articulated relationship between the tractor A1 and the trailer A2, the trailer A2 can only follow passively during the steering process. The extension line of the rotation axis of the rear wheel of vehicle A1 and the rotation axis of trailer A2 cannot intersect with the rotation axis of the front wheel of the towing vehicle at the same point (that is, the center of rotation)

Moreover, on the existing trailers, the number of axles of the tractor often exceeds two, which leads to the inability of each wheel to rotate around a center of rotation instantaneously.

That is to say, from the perspective of the principle analysis of the steering system, some wheels of the existing trailer inevitably have sideslips of different degrees during the steering process, which will cause serious tire wear and even accidents.

[0006] In addition, although there are all-wheel steering vehicles in the prior art, most of these vehicles are two-axle vehicles, which cannot be effectively applied to trailers. Even if all-wheel steering technology is simply used on trailers, because two-axle vehicles are Rigid vehicles, so this simple conversion must ensure that the trailer is rigidly connected, that is, the rigid connection between the tractor and the trailer. As we all know, the longitudinal length of the trailer is much larger than that of ordinary two-axle vehicles. This simple conversion Not only due to the lack of relatively effective steering control methods and steering systems, it is difficult to reliably make each wheel rotate around the same rotation center during the steering process, but also the trailer needs a significantly increased turning radius during the steering process, which makes the passing of the trailer Extremely poor performance, and often prone to driving accidents

[0007] Generally speaking, for large vehicles in the prior art, for example, after the trailer is simply lengthened by the trailer, its passability will be seriously affected, and the minimum turning radius is generally greatly increased. Specifically, when the trailer is turning, the distance between the tractor and the trailer Forming a knuckle, its driving trajectory has a large offset, and it is easy to encroach on adjacent lanes. For example, if there is no reasonable design of the steering system and steering control method, the trailer is prone to flicking during the steering process, which is much more harmful than normal car

Moreover, these trailers in the prior art have more general defects that the wheels are easy to slip and tires are easy to wear when turning, the vehicle is unstable, accidents are prone to occur, and even the trailer can not run normally.

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