Self-adaptive active steering control method capable of improving handling stability of tractor-trailer

A technology of handling stability and active steering, applied in control devices, vehicle components, driver input parameters, etc., can solve the problems of heavy driver burden, operation rollover accidents, and difficulty in returning to normal, and achieve good robust performance. Effect

Inactive Publication Date: 2014-03-26
SHANGHAI YUNFENG CULTURE COMM
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Problems solved by technology

Moreover, there is no rigid connection between the tractor and the trailer, the system has many degrees of freedom, the driving difficulty is high, and the driver’s burden is heavy. Once the tractor trailer falls into an unstable state, it is difficult to return to normal only by the driver’s manipulation, and rollover accidents are prone to occur if the operation is improper.

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  • Self-adaptive active steering control method capable of improving handling stability of tractor-trailer

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Embodiment Construction

[0008] The present invention will be further described below in conjunction with accompanying drawing:

[0009] figure 1 It is a flowchart of an embodiment of the present invention, because the first and second steps of the present invention are pre-characteristic analysis and model design, so they are not shown in the figure, figure 1 Mainly explain the process of the third step in detail: (1) take the angle of the driver's steering wheel as the initial input after starting; (2) compare the input with the ideal steering model; (3) calculate the actual vehicle detection signal and the ideal The error between the steering model signals; (4) Apply the all-wheel active steering control algorithm based on the adaptive control theory; (5) Determine whether the error between the actual vehicle detection signal and the ideal steering model signal is zero, if it is zero, then end, If it is not zero, put the error signal into the designed adaptive steering controller, calculate the st...

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Abstract

The invention discloses a self-adaptive active steering control method capable of improving handling stability of a tractor-trailer. The self-adaptive active steering control method is characterized by including the following steps that a vehicle dynamic mathematical model is deduced according to the dynamic characteristics of the tractor-trailer, and the characteristics of the vehicle dynamic mathematical model are analyzed; an ideal steering model free of inner wheel differences is designed, and an actual vehicle is made to track the ideal steering module to reduce the inner wheel differences as much as possible or eliminate the inner wheel differences; the self-adaptive control theory with high robustness is adopted, a self-adaptive control algorithm which makes the actual vehicle to track the ideal steering model is developed, simulation analysis is conducted, and the tractor-trailer is effectively controlled to actively steer in a self-adaptive mode. Through the self-adaptive active steering control method, the actual tractor-trailer can achieve the design performance of the ideal steering model, and the inner wheel differences are eliminated.

Description

Technical field: [0001] The invention relates to a control method for a towing trailer, in particular to an adaptive active steering control method for improving the handling stability of the towing trailer. Background technique: [0002] A tractor trailer is a commercial vehicle equipped with special devices for towing a trailer, consisting of a tractor and a trailer. There are two ways to connect the tractor and trailer: semi-trailer and full-trailer. The first type is that the front half of the trailer rides on the traction saddle above the rear section of the tractor, and the bridge behind the tractor bears part of the weight of the trailer; the second type is that the front end of the trailer is connected to the rear end of the tractor, and the tractor only Provides forward pulling force to drag the trailer, but does not bear the downward weight of the trailer. Regardless of whether it is a semi-trailer connection or a full-trailer connection, the quality of the tract...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/045
CPCB60W30/045B60W2540/18B60W2710/20
Inventor 王强
Owner SHANGHAI YUNFENG CULTURE COMM
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