A pure electric multi-section articulated vehicle train driving stability control method
A technology of stability control and automobile trains, which is applied in the field of transportation, can solve the problems of less research on automobile stability control, and achieve the effect of improving single transportation efficiency and good control effect
Active Publication Date: 2020-11-03
XIAMEN UNIV OF TECH
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Problems solved by technology
However, the current research focuses more on trajectory following control, and less research on vehicle stability control. In fact, a large number of studies have shown that under medium and high-speed operating conditions, the stability control of vehicles and trains is more important than trajectory following control. Makes more sense in actual transportation
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[0055] In order to further explain the technical means and effects adopted by the present invention to achieve the intended invention purpose, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.
[0056] Such as Figure 1-5 As shown, a pure electric multi-section articulated vehicle train running stability control method, the vehicle train includes a tractor 1 and three trailers (the first trailer 2, the second trailer 3, the third trailer 4), the The above-mentioned tractor and trailer are articulated sequentially through the hinge plate, and the distribution of the six axles of the automobile train is as follows: tractor 1 and third trailer 4 each have one axle at the front and rear, and each of the first trailer 2 and the second trailer 3 has an axle , proceed as follows:
[0057] S1: Establish respective local coordinate systems on t...
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The invention discloses a method for controlling driving stability of a pure electric multi-section hinged combination vehicle. The method mainly comprises the following steps of establishing a mathematical state space model of a combination vehicle needing to be studied in order to obtain a system matrix A and a control input matrix B1; selecting nine variables including a side velocity and a yawvelocity of a hinged vehicle and hinged angles, hinged angle velocities and steering wheel angles of three hinged discs as detection variables; and enabling a sensor to output real-time signals of the nine variables and transmit the real-time signals to an ECU. The ECU predicts the future dynamic change of a tractor through the change of the steering wheel angle and controls the combination vehicle to run stably. According to the control method, the movement form of a rear trailer along with the tractor can be controlled, the driving integrity of the combination vehicle is guaranteed, the phenomena of "folding", "drift" and "snakelike" instability in the driving process of the combination vehicle are effectively avoided, and the safety operation performance of the combination vehicle is improved.
Description
technical field [0001] The invention relates to the field of transportation, in particular to a method for controlling the driving stability of a pure electric multi-section articulated vehicle train. Background technique [0002] At present, the public transportation field in various cities mainly provides buses, bus rapid transit (BRT), subways, light rails, and taxis to facilitate people's travel. Due to the low demand for public transport infrastructure and low investment in the overall system, investment in public transport is currently one of the main means for local governments to relieve the pressure on public transport. Although the bus company alleviates the travel pressure of public transport by increasing bus frequency and number of trains, due to the limited one-way transportation volume of buses, it cannot effectively solve the problem of large population flow in the transportation of large cities. Some cities, such as Xiamen and Zhengzhou, vigorously develop ...
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IPC IPC(8): B60W30/02
CPCB60W30/02
Inventor 韩锋钢贾梦泽宋帆彭倩卢光华
Owner XIAMEN UNIV OF TECH