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A method for determining the articulation angle of a semi-trailer train in a straight line and stably reversing

The technology of a car train and a determination method is applied to the steering mechanism, vehicle components, steering mechanism and other directions of the front and rear tandem vehicles, and can solve the problems of unstable open loop, easy folding, and difficulty in reverse steering control of semi-trailer trains. Achieve the effect of improving security, reducing time-consuming, improving security and efficiency

Active Publication Date: 2021-03-30
HEFEI UNIV OF TECH +1
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] But at the same time, the dynamic state of the semi-trailer train composed of tractors and semi-trailers is open-loop stable when running in a straight line, but due to its own nonlinear, unstable, and uncertain factors, the semi-trailer train The dynamic state during reverse driving is open-loop unstable, prone to folding, collision, rollover and other unsteady state phenomena
It is precisely because of the existence of the articulated device that a certain articulated angle is formed between the tractor and the semi-trailer, and it is precisely because of the existence of the articulated angle that it is extremely difficult to control the reverse steering of the semi-trailer train

Method used

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  • A method for determining the articulation angle of a semi-trailer train in a straight line and stably reversing
  • A method for determining the articulation angle of a semi-trailer train in a straight line and stably reversing
  • A method for determining the articulation angle of a semi-trailer train in a straight line and stably reversing

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Embodiment

[0083] Embodiment: This embodiment utilizes the articulation angle determination method of the present invention to make the semi-trailer train reversing in a straight line and stable to carry out the determination of the rectilinear reversing domain, and the specific process is as follows:

[0084] The basic technical parameters of this type of semi-trailer train are shown in Table 1:

[0085] Table 1

[0086] project unit parameter tractor wheelbase mm 2800 Distance from the rear axle of the tractor to the hinge point mm 1300 Semi-trailer wheelbase mm 4200 Tractor inner wheel deflection angle ° 40° Tractor inner wheel deflection angle ° -33°

[0087] That is:

[0088]

[0089]

[0090] Therefore, the hinge angle stability domain is [-68.5482°.56.54155°].

[0091] Determination of feasible region: adjust this semi-trailer train to make its articulation angle be zero, start reversing when steering wheel is turned ...

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Abstract

The invention discloses a method for determining a hinge angle of linear stable reversing of a semitrailer train. The hinge angle is divided into a stable domain and a feasible domain according to thechange characteristics of the hinge angle of the semitrailer train during backing-up driving, so an induction prompt can be given to prevent a driver from reversing the semitrailer train to a dangerous or unreasonable working condition, then the safety and the linear reversing efficiency of the semitrailer train during reversing can be improved, and double guarantees are provided for the safety and the logistics efficiency of the driver.

Description

technical field [0001] The invention belongs to the field of steering control of a semi-trailer, in particular to a method for determining the articulation angle of a semi-trailer train in straight line and stable reversing. Background technique [0002] In the past ten years, with the continuous improvement of the national road network, road transportation has become an important transportation mode in the comprehensive transportation system, and various types of transportation have the advantages of large load capacity, high transportation efficiency, good fuel economy and low transportation cost. Semi-trailer trains are getting more and more attention from the society and have become the main force of road freight worldwide. [0003] But at the same time, the dynamic state of the semi-trailer train composed of tractors and semi-trailers is open-loop stable when running in a straight line, but due to its own nonlinear, instability, uncertainty and other factors, the semi-t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D12/02B60W50/00
CPCB60W50/0098B60W2050/0043B62D12/02
Inventor 夏光赵名卓于彬郭祥祥孙学委石鹏许立平纵华宇李嘉诚于星海王跃强
Owner HEFEI UNIV OF TECH
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