Tractor Yaw Control via Dynamic Braking Distribution
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Solution Overview
Problem
Existing tractor vehicle control systems fail to effectively suppress sway behavior while minimizing uncomfortable feelings for the driver, as excessive front wheel braking can lead to understeer and discomfort.
Innovation Solution
An operation control device equipped with a yaw rate sensor and controller that adjusts braking power distribution between front and rear wheels based on the yaw indicator, increasing front wheel braking power when the yaw indicator is high to suppress oscillation and reducing understeer by adjusting the power distribution when it is low.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the braking power of front wheels is excessively increased to suppress sway behavior, then the sway behavior is suppressed, but transient understeer behavior occurs causing uncomfortable feeling to the driver
Solution Approach 1:
The braking power distribution between front and rear wheels is dynamically adjusted based on the yaw indicator value. The controller increases front wheel braking power when the yaw indicator is large to suppress sway, and reduces it when the yaw indicator is small to prevent understeer, making the system adaptive rather than static
Solution Approach 2:
The controller changes the braking power parameter distribution based on the yaw indicator. By calculating the yaw indicator from yaw rate and adjusting the braking power ratio between front and rear wheels according to this indicator, the system optimizes the balance between sway suppression and driver comfort
Data Source
AI summary
A tractor vehicle operation control device includes a yaw rate sensor, which detects the actual yaw rate, and a controller, which executes damping control for increasing braking power on the vehicle wheels based on the actual yaw rate and damping periodic yaw motion of the tractor vehicle originating in a trailer. The controller, based on the actual yaw rate, calculates a yaw indicator representing the degree of yaw motion, and sets the front wheels braking power to be greater and sets the rear wheels braking power to be less as the yaw indicator increases. For example, the controller calculates a peak value of the actual yaw rate and determines the actual yaw rate peak value to be the yaw rate. The controller also may calculate yaw angular acceleration based on the actual yaw rate and determine a yaw indicator based on the peak value of the yaw angular acceleration.