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A semi-trailer vehicle with rear wheel having reversing power and reversing method

A semi-trailer and power technology, applied in the field of vehicles, can solve the problems of difficult reversing, folding, large blind spots, etc., and achieve the effect of simple reversing and steering of semi-trailer trains

Active Publication Date: 2021-08-17
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Prone to dangerous situations such as folding and collision
In addition, the body of the semi-trailer train is too long and the blind spot is too large, which makes it difficult to reverse. To complete a reverse steering requires the driver to have rich driving experience and high-level driving skills.

Method used

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  • A semi-trailer vehicle with rear wheel having reversing power and reversing method
  • A semi-trailer vehicle with rear wheel having reversing power and reversing method
  • A semi-trailer vehicle with rear wheel having reversing power and reversing method

Examples

Experimental program
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Effect test

Embodiment 1

[0024] Such as figure 1 As shown, the present embodiment provides a semi-trailer vehicle with rear wheels having reversing power. It can be understood that the specific structure of the semi-trailer belongs to the prior art, which includes a tractor for traction and a semi-trailer for loading, and a saddle 7 is arranged at the rear of the tractor to realize the articulation of the semi-trailer and the tractor , the trailer axle 7 is set on the trailer. The saddle 7 transmits the power of the tractor to the semi-trailer, and the wheels in the semi-trailer are driven wheels and do not have a steering function.

[0025] This embodiment takes figure 1 A tractor with two pairs of wheels and a semi-trailer with one pair of wheels are described as examples:

[0026] On the basis of the existing semi-trailer, this implementation should also include ECU4 and a corner sensor 3 capable of measuring the steering wheel angle. The pair of wheels at the rear end of the semi-trailer are tw...

Embodiment 2

[0036] Such as Figure 2-Figure 3 As shown, the present embodiment provides a method for reversing a semi-trailer, comprising the following steps:

[0037] The steering data model of the semi-trailer is established by using the deflection angle of the front wheel of the tractor, the size of the tractor and the semi-trailer, and the speed difference between the two electric wheels at the rear end of the semi-trailer as parameters;

[0038] The steering data model is:

[0039]

[0040] Among them, V difference is the speed difference between the two electric wheels, V outer is the speed of the outer electric wheel away from the steering center, V inner is the speed of the inner electric wheel close to the steering center, K 1 is the wheel base of the semi-trailer, K 2 is tractor wheel base, L 1 is the distance from the rear axle of the semi-trailer to the center of the saddle, L 2 is the distance between the front and rear axles of the tractor, α 1 is the deflection angl...

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Abstract

The disclosure relates to a semi-trailer vehicle with rear wheels having reversing power and a reversing method, including an ECU and a rotation angle sensor capable of measuring the steering wheel angle. The pair of wheels at the rear end of the semi-trailer are two electric wheels that can be driven independently; The information from the sensor calculates the deflection angle of the front wheels in the tractor, and then calculates the turning radius of the semi-trailer when it reverses to the side and rear, and further calculates the speed difference between the two electric wheels, and controls the two electric wheels in different directions. Speed ​​active walking to realize turning and reversing.

Description

technical field [0001] The disclosure belongs to the technical field of vehicles, and in particular relates to a semi-trailer vehicle with rear wheels having reversing power and a reversing method. Background technique [0002] In the past ten years, with the continuous planning and construction of road facilities and the continuous increase of people's demand for many materials, the road transportation industry is in a stage of rapid development, and road transportation has gradually become an important mode of transportation. Semi-trailer trains with large transport tonnage, low transport cost and high transport efficiency have gradually occupied most of the road transport. [0003] The inventor has learned that the structure of the semi-trailer vehicle itself has the characteristics of heavy weight, high center of mass, and mutual coupling at the saddle, so that there are factors such as nonlinearity, instability, and uncertainty in the reverse steering process of the sem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D11/04B62D13/00B62D6/00B62D101/00B62D137/00
CPCB62D6/001B62D6/002B62D11/003B62D11/04B62D13/00
Inventor 李春玲高成宇路玉峰樊祥奔
Owner QILU UNIV OF TECH