Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

doi:10.16731/j.cnki.1671-3133.2024.03.011

Modern Manufacturing Engineering ›› 2024, Vol. 522 ›› Issue (3): 79-88.doi: 10.16731/j.cnki.1671-3133.2024.03.011

Previous Articles Next Articles

Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

CAO Yifan¹, DENG Zhaowen^1,2,3, GAO Wei^1,3, KONG Xinxin¹, WANG Baohua^1,4

1 College of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China;
2 Institute of Automotive Engineers,Hubei University of Automotive Technology,Shiyan,442002,China;
3 College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China;
4 Hubei Longzhong Laboratory,Xiangyang 441000,China

Received:2023-05-10 Online:2024-03-18 Published:2024-05-31

Abstract

Abstract: A direct yaw moment differential braking control strategy based on fuzzy Proportion、Integral、Differential (PID) control is proposed for the dangerous situation of double-trailer train under high-speed overtaking condition, such as lateral instability, trailer folding and tail-throwing. Two kinds of lateral stability control strategies for differential braking were designed, namely single-control mode controlled only by tractor and multi-control mode controlled by both tractor and trailer, aiming at the lateral deflection angle and yaw velocity deviation and deviation change rate of the TruckSim nonlinear model and the four-degree-of-freedom linear model respectively. The effectiveness of the control strategy was verified through the co-simulation of MATLAB/Simulink software and TruckSim software and the Hardware-in-the-Loop (HIL) platform. The results show that, in high-speed overtaking conditions, the lateral stability control system of multi-control vehicles is better able to reduce the lateral declination angle, yaw speed, articulated angle and Rearward Amplification (RWA) coefficient of the vehicle than that of uncontrolled vehicles and single-control vehicles, and is significantly better in improving the lateral stability of double-truck trains.

Key words: double-truck train, direct yaw moment control, differential braking, fuzzy Proportion、Integral、Differential (PID) control, hardware-in-the-loop validation

CLC Number:

U469.5

CAO Yifan, DENG Zhaowen, GAO Wei, KONG Xinxin, WANG Baohua. Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop[J]. Modern Manufacturing Engineering, 2024, 522(3): 79-88.

References

[1] 彭涛,关志伟,张荣辉,等.半挂汽车列车高速变道稳定域估计[J].交通运输工程学报,2018,18(4):90-102.
[2] ELHEMLY M A,FAYED M A,ELMAIHY A A.Tractorsemitrailer jackknifing elimination using semitrailer differential braking technique[J].International Journal of Heavy Vehicle Systems,2013,20(1):19-34.
[3] WANG X,LI Q,ZHA H,et al.Integrated active steering control strategy for autonomous articulated vehicles[J].International Journal of Heavy Vehicle Systems,2020,27(5):565-599.
[4] 徐晓美,颜潇,蔡浩浩,等.半挂汽车列车高速侧向稳定性控制研究[J].重庆理工大学学报(自然科学),2021,35(10):1-8.
[5] 冯善坤,王保华,陈小兵,等.基于LQR汽车列车主动转向控制研究[J].湖北汽车工业学院学报,2017,31(2):34-40.
[6] MILANI S,UNLUSOY Y S,MARZBANI H,et al.Semitrailer steering control for improved articulated vehicle manoeuvrability and stability[J].Nonlinear Engineering,2019,8(1):568-581.
[7] 邓召文,孔昕昕,高伟,等.重型半挂汽车列车主动转向控制策略研究[J].现代制造工程,2021(10):17-24.
[8] CHENG Caizhen,DAVID Cebon.Improving roll stability of articulated heavy vehicles using active semi-trailer steering [J].Vehicle System Dynamics,2008,46(sup1):373-388.
[9] DENG Zhaowen,JIN Yonghui,Gao Wei,et al.A closed-loop directional dynamics control with LQR active trailer steering for articulated heavy vehicle[J].Proc.IMechE,Part D:Journal of Automobile Engineering,2022,236(12):1-18.
[10] ZHANG Buyang,ZONG Changfu,HUANG Yanjun.A novel integrated stability control based on differential braking and active steering for four-axle trucks[J].Chinese Journal of Mechanical Engineering,2019(20):1-21.
[11] 翟德.半挂汽车列车侧向稳定性判定及控制研究[D].长春:吉林大学,2019.
[12] 杨秀建,康南,李西涛,等.基于TruckSim-Simulink联合仿真的半挂汽车列车的稳定性控制[J].公路交通科技,2013,30(3):141-148.
[13] 杨炜,马浩越,郭祥靖,等.基于 Trucksim 与 Simulink 联合仿真的半挂汽车列车横向稳定性控制[J].中国科技论文,2018,13(4):390-398.
[14] 张楷祥,周庆辉.半挂汽车列车高速变道横向稳定性控制研究[J].现代制造工程,2022(4):68-75.
[15] 马玉喆,张祖锋,牛宗元,等.半挂汽车列车 AFS /DYC集成控制策略设计及验证[J].江苏大学学报(自然科学版),2018,39(5):531-536.
[16] KONG Xinxin,DENG Zhaowen,GAO Wei,et al.Lateral stability control of distributed electric drive articulated heavy vehicles[J].The International Journal Vehicle Performance,2023,9(2):184-203.
[17] 张义花,许洪国,刘宏飞,等.双挂汽车列车操纵稳定性评价指标研究[J].中国公路学报,2017,30(5):145-151.
[18] 余志生.汽车理论[M]. 5版. 北京:机械工业出版社,2009.
[19] KHARRAZI S.Steering based lateral performance control of long heavy vehicle combinations[D].Doktorsavhandlingar Vid Chalmers Tekniska Hogskola Ny Serie.[S.l.]:[s.n.],2012:4-5.
[20] LIU L,WANG B,HE Y.Research on path-tracking control of articulated vehicle with a trailer based on advanced model prediction control strategy lateral[C]//Proceedings of the Canadian Society for Mechanical Engineering International Congress.[S.l.]:[s.n.],2021.

Research on high speed lateral stability control of double-truck train based on hardware-in-the-loop

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 3

Recommended Articles

Metrics

Comments

[1]	. [J]. Modern Manufacturing Engineering, 2023, 517(10): 64-71.
[2]	. [J]. Modern Manufacturing Engineering, 2022, 499(4): 68-75.
[3]	. [J]. Modern Manufacturing Engineering, 2021, 493(10): 17-24.