CN102529922A - Lateral stability control system for semi-trailer train - Google Patents
Lateral stability control system for semi-trailer train Download PDFInfo
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- CN102529922A CN102529922A CN2011104477961A CN201110447796A CN102529922A CN 102529922 A CN102529922 A CN 102529922A CN 2011104477961 A CN2011104477961 A CN 2011104477961A CN 201110447796 A CN201110447796 A CN 201110447796A CN 102529922 A CN102529922 A CN 102529922A
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Abstract
A lateral stability control system for a semi-trailer train comprises a tractor side slip angle measuring device, a train body yawing angular speed measuring device, a lateral stability functional module, a brake wheel judgment and brake torque distribution controller and a wheel brake. Output ends of the tractor side slip angle measuring device and the train body yawing angular speed measuring device are electrically connected with an input end of the lateral stability functional module, an output end of the lateral stability functional module is electrically connected with the brake wheel judgment and brake torque distribution controller, and the brake wheel judgment and brake torque distribution controller is electrically connected with the wheel brake. The model tracking technology is adopted to track an ideal model, required additional yawing torque is generated by the aid of a differential brake scheme, driving stability of the semi-trailer train is improved when the semi-trailer train turns by a large angle at high speed, probability of loss of stability can be effectively reduced, and serious traffic accidents are avoided. In addition, the lateral stability control system for the semi-trailer train is reasonable in structure and simple in operation.
Description
Technical field:
The present invention relates to a kind of automobile brake control system, particularly a kind of semi-trailer train lateral stability control system.
Background technology:
Semi-trailer train is made up of tractor truck and superimposed trailer, have conveying efficiency height, ton-kilomiter oil consumption low, can realize advantages such as door-to-door service.The European and American countries road transport is main with semi-trailer train all, and the special-use vehicle train has accounted for 85%～90% of highway transport vehicle.At home, along with the continuous development of logistics and the formation of freeway net, semi-trailer train also becomes the main force of road transport day by day.When semi-trailer train went, it is whole that tractor truck and superimposed trailer had both been formed a motion, exists the relation of mutual motion again through the towing pin on the saddle; As shown in Figure 1, semi-trailer train turns to when going, and chaufeur is applied to the corner on the steering handwheel; Convert the front wheel angle of tractor truck into through steering hardware, tractor truck is realized turning to going, this moment tractor truck with relative angle of superimposed trailer generation; Through the effect of the towing pin on the saddle, drive superimposed trailer and realize turning to going.
Compare the monomer goods carrying vehicle; Semi-trailer train is because the additional degree of freedom that exists the coupling of tractor truck and superimposed trailer to bring, its lateral stiffness a little less than, horizontal unstability (fold, whipping, side shake, rollover) phenomenon appears more easily; And the semi-trailer train carrying capacity is big, volume is big, the speed of a motor vehicle is high, inertia is big; So in case the unstability situation takes place, be easy to feed through to other vehicle that goes on the road, cause serious a chain of pernicious traffic accident; Safety of life and property influence to people is very big, has a strong impact on communications and transportation efficient.
The kinematics of the horizontal unstability of semi-trailer train shows as the rapid increase of tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and superimposed trailer line of centers angle; Semi-trailer train to horizontal unstability; Only rely on chaufeur direction of passage dish that the adjustment of semi-trailer train front wheel angle is guaranteed that its stability has little effect usually; Therefore need the actv. supplementary controlled system to improve the road-holding property of semi-trailer train, guarantee the driving safety when the big corner of automobile high-speed turns to.
Summary of the invention:
The present invention is directed to the problem that existing semi-trailer train lateral stability exists; One lateral stability control system is provided; It is rational in infrastructure and use easy and simple to handle; Can effectively improve the road-holding property of automobile under the limit or dangerous operating mode, the driving safety when the at a high speed big corner of raising semi-trailer train turns to.
As above design; The present invention adopts following technical scheme: a kind of semi-trailer train lateral stability control system is characterized in that: comprise tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism, lateral stability functional module, brake wheel judgement and lock torque dispensing controller and car side brake; Wherein, The mouth of tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism is electrically connected with the input end of lateral stability functional module; The mouth of lateral stability functional module judges with brake wheel and the lock torque dispensing controller is electrically connected, and brake wheel is judged and the lock torque dispensing controller is electrically connected with car side brake.
Above-mentioned tractor truck sideslip angle measurement mechanism comprises the longitudinal velocity sensor that can detect the tractor truck longitudinal velocity in real time, the side velocity sensor and the tractor truck sideslip angle controller that can detect the tractor truck side velocity in real time; The output port of longitudinal velocity sensor and side velocity sensor is connected with the input end of tractor truck sideslip angle controller, and the mouth of tractor truck sideslip angle controller is connected with the input end of lateral stability functional module.
Above-mentioned car body yaw velocity measurement mechanism comprises the steering wheel angle sensor that in real time steering wheel angle is detected, the tractor truck yaw-rate sensor and the real-time superimposed trailer yaw-rate sensor that the superimposed trailer yaw velocity is detected that in real time the tractor truck yaw velocity are detected; The mouth of steering wheel angle sensor, tractor truck yaw-rate sensor and superimposed trailer yaw-rate sensor is connected with the input end of lateral stability functional module.
Above-mentioned lateral stability functional module comprises tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and superimposed trailer line of centers angle computing module, difference block and additional yaw moment control module four parts of tractor truck and superimposed trailer line of centers angle computing module, perfect condition; The lateral stability functional module is accepted the detection signal of tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism; Tractor truck and superimposed trailer line of centers angle computing module calculate tractor truck and superimposed trailer line of centers angle; The perfect condition computing module obtains tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle under the perfect condition; Difference block obtains the difference of above-mentioned parameter, and additional yaw moment control module calculates needed additional yaw moment.
The present invention adopts the model following technology to follow the tracks of ideal model; The additional yaw moment that utilizes the generation of differential braking scheme to need; Improve the riding stability of semi-trailer train when turning to greatly at a high speed, can effectively reduce the unstability probability, avoided the generation of severe traffic accidents.The semi-trailer train lateral stability system architecture of being invented is reasonable, simple to operate.
Description of drawings
Fig. 1 is semi-trailer train tractor truck and superimposed trailer motion coupling figure.
Fig. 2 is the schematic diagram of semi-trailer train lateral stability control system of the present invention.
Fig. 3 is the schematic diagram of lateral stability functional module among the present invention.
Fig. 4 is a semi-trailer train differential braking scheme among the present invention.
Wherein: 1. steering wheel angle, 2, tractor truck, 3, superimposed trailer, 4, tractor truck and superimposed trailer relative rotation; 5, the motion of tractor truck and superimposed trailer output, 6, steering wheel angle sensor, 7, the tractor truck yaw-rate sensor; 8, superimposed trailer yaw-rate sensor, 9, tractor truck sideslip angle controller, 10, the longitudinal velocity sensor; 11, side velocity sensor, 12, the lateral stability control module, 13, brake wheel judges and the lock torque dispensing controller; 14, car side brake, 15, car body yaw velocity measurement mechanism, 16, tractor truck sideslip angle measurement mechanism; 17, tractor truck and superimposed trailer line of centers angle computing module, 18, tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle computing module of perfect condition, 19, difference block; 20, additional yaw moment control module, 21, the additional yaw moment of tractor truck, 22, the additional yaw moment of superimposed trailer.
The specific embodiment
As shown in Figure 2, the present invention includes tractor truck sideslip angle measurement mechanism 16, car body yaw velocity measurement mechanism 15, lateral stability functional module 12, brake wheel judgement and lock torque dispensing controller 13 and wheel braking controller 14.Tractor truck sideslip angle measurement mechanism 16 comprises the longitudinal velocity sensor 10 that in real time the tractor truck longitudinal velocity is detected, the side velocity sensor 11 that in real time the tractor truck side velocity is detected, and tractor truck sideslip angle controller 9; Car body yaw velocity measurement mechanism comprises the steering wheel angle sensor 6 that in real time steering wheel angle is detected, the tractor truck yaw-rate sensor 7 that in real time the tractor truck yaw velocity is detected, and the superimposed trailer yaw-rate sensor 8 that in real time the superimposed trailer yaw velocity is detected.Tractor truck sideslip angle measurement mechanism 16, car body yaw velocity measurement mechanism 15 are electrically connected with lateral stability functional module 12, and the steering wheel angle that measures, longitudinal velocity, tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity are input to lateral stability functional module 12.Brake wheel is judged and lock torque dispensing controller 13 is electrically connected with lateral stability functional module 12, accepts the output signal of lateral stability functional module 12.Car side brake 14 judges with brake wheel and lock torque dispensing controller 13 is electrically connected, and accepts the instruction from brake wheel judgement and lock torque dispensing controller 13.
Fig. 3 has provided the schematic diagram of lateral stability functional module 12, and lateral stability functional module 12 is accepted steering wheel angle, longitudinal velocity, tractor truck sideslip angle, tractor truck yaw velocity, the superimposed trailer yaw velocity of tractor truck sideslip angle measurement mechanism 16 and 15 measurements of car body yaw velocity measurement mechanism.Utilize tractor truck yaw velocity, superimposed trailer yaw velocity signal, tractor truck and superimposed trailer line of centers angle computing module 17 calculate tractor truck and superimposed trailer line of centers angle.Utilize steering wheel angle and longitudinal velocity signal, the tractor truck sideslip angle of perfect condition, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and superimposed trailer line of centers angle computing module 18 calculate tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle under the perfect condition.Difference block 19 is with tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle and desirable tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle subtraction of reality; Obtain their difference; Additional yaw moment control module 20 is utilized optimal control program (perhaps fuzzy control program etc.) to calculate tractor truck to reach the needed additional yaw moment of perfect condition, and calculates the additional yaw moment with superimposed trailer with the ratio of superimposed trailer and tractor truck rotor inertia.
Fig. 4 has provided semi-trailer train differential braking scheme; Brake wheel judgement and lock torque dispensing controller 13 are according to the output signal of lateral stability functional module 12; Judge whether need brake, and corresponding concrete distribution needs the lock torque of brake side wheel to the left side or the right side wheels of semi-trailer train; Brake wheel is judged and 13 pairs of car side brakes 14 of lock torque dispensing controller are controlled.
Claims (4)
1. a semi-trailer train lateral stability control system is characterized in that: comprise tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism, lateral stability functional module, brake wheel judgement and lock torque dispensing controller and car side brake; Wherein, The mouth of tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism is electrically connected with the input end of lateral stability functional module; The mouth of lateral stability functional module judges with brake wheel and the lock torque dispensing controller is electrically connected, and brake wheel is judged and the lock torque dispensing controller is electrically connected with car side brake.
2. a kind of semi-trailer train lateral stability control system according to claim 1 is characterized in that: above-mentioned tractor truck sideslip angle measurement mechanism comprises the longitudinal velocity sensor that can detect the tractor truck longitudinal velocity in real time, the side velocity sensor and the tractor truck sideslip angle controller that can detect the tractor truck side velocity in real time; The output port of longitudinal velocity sensor and side velocity sensor is connected with the input end of tractor truck sideslip angle controller, and the mouth of tractor truck sideslip angle controller is connected with the input end of lateral stability functional module.
3. semi-trailer train lateral stability control system is characterized in that: above-mentioned car body yaw velocity measurement mechanism comprises the steering wheel angle sensor that in real time steering wheel angle detected, the tractor truck yaw-rate sensor that in real time the tractor truck yaw velocity is detected and the superimposed trailer yaw-rate sensor that in real time the superimposed trailer yaw velocity is detected; The mouth of steering wheel angle sensor, tractor truck yaw-rate sensor and superimposed trailer yaw-rate sensor is connected with the input end of lateral stability functional module.
4. semi-trailer train lateral stability control system is characterized in that: above-mentioned lateral stability functional module comprises tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and superimposed trailer line of centers angle computing module, difference block and additional yaw moment control module four parts of tractor truck and superimposed trailer line of centers angle computing module, perfect condition; The lateral stability functional module is accepted the detection signal of tractor truck sideslip angle measurement mechanism, car body yaw velocity measurement mechanism; Tractor truck and superimposed trailer line of centers angle computing module calculate tractor truck and superimposed trailer line of centers angle; The perfect condition computing module obtains tractor truck sideslip angle, tractor truck yaw velocity, superimposed trailer yaw velocity and tractor truck and the superimposed trailer line of centers angle under the perfect condition; Difference block obtains the difference of above-mentioned parameter, and additional yaw moment control module calculates needed additional yaw moment.
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| CN2011104477961A CN102529922A (en) | 2011-12-28 | 2011-12-28 | Lateral stability control system for semi-trailer train |
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| CN2011104477961A CN102529922A (en) | 2011-12-28 | 2011-12-28 | Lateral stability control system for semi-trailer train |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104955713A (en) * | 2012-12-12 | 2015-09-30 | 罗伯特·博世有限公司 | Method and device for stabilizing a vehicle combination consisting of a towing vehicle and a trailer |
| CN105620514A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Rubber wheel train track following control system |
| CN107179686A (en) * | 2017-05-10 | 2017-09-19 | 江苏大学 | A kind of distributed-driving electric automobile lateral stability high-order variable structure control method based on gray prediction |
| CN107921936A (en) * | 2015-08-19 | 2018-04-17 | Zf 腓德烈斯哈芬股份公司 | To the stabilisation of vehicle combination |
| CN109606332A (en) * | 2018-11-27 | 2019-04-12 | 江苏大学 | It is a kind of based on mixing theoretical caravan trailer braking force distribution control system and control method |
| CN109747712A (en) * | 2019-03-08 | 2019-05-14 | 途观科技有限公司 | Central axle trailer turns to angle control system |
| CN110901630A (en) * | 2019-11-26 | 2020-03-24 | 东风商用车有限公司 | Method and system for controlling lateral stability of semi-trailer train |
| CN111376740A (en) * | 2018-12-28 | 2020-07-07 | 长沙智能驾驶研究院有限公司 | Power semitrailer driving control method and device and power semitrailer system |
| CN111439254A (en) * | 2018-12-28 | 2020-07-24 | 长沙智能驾驶研究院有限公司 | Power semitrailer control method and device, control equipment and storage medium |
| CN111976715A (en) * | 2020-09-04 | 2020-11-24 | 齐鲁工业大学 | Semi-trailer vehicle and method for improving driving stability by utilizing electronic differential of rear wheels |
| CN113682317A (en) * | 2021-03-05 | 2021-11-23 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Method for predicting transverse stability of electric vehicle |
| CN113928305A (en) * | 2021-10-26 | 2022-01-14 | 浙江吉利控股集团有限公司 | Lane keeping method, lane keeping device, vehicle and storage medium |
| CN117922560A (en) * | 2024-03-25 | 2024-04-26 | 天津所托瑞安汽车科技有限公司 | Early warning braking method, device, equipment and storage medium for side dead zone of semitrailer |
-
2011
- 2011-12-28 CN CN2011104477961A patent/CN102529922A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104955713B (en) * | 2012-12-12 | 2017-06-20 | 罗伯特·博世有限公司 | For the method and apparatus that stabilization includes the tractor group of tractor and towed vehicle |
| CN104955713A (en) * | 2012-12-12 | 2015-09-30 | 罗伯特·博世有限公司 | Method and device for stabilizing a vehicle combination consisting of a towing vehicle and a trailer |
| CN105620514A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Rubber wheel train track following control system |
| CN107921936B (en) * | 2015-08-19 | 2020-06-05 | Zf 腓德烈斯哈芬股份公司 | Stabilization of vehicle combinations |
| CN107921936A (en) * | 2015-08-19 | 2018-04-17 | Zf 腓德烈斯哈芬股份公司 | To the stabilisation of vehicle combination |
| CN107179686A (en) * | 2017-05-10 | 2017-09-19 | 江苏大学 | A kind of distributed-driving electric automobile lateral stability high-order variable structure control method based on gray prediction |
| CN107179686B (en) * | 2017-05-10 | 2019-02-05 | 江苏大学 | A kind of distributed-driving electric automobile lateral stability high-order variable structure control method based on gray prediction |
| CN109606332A (en) * | 2018-11-27 | 2019-04-12 | 江苏大学 | It is a kind of based on mixing theoretical caravan trailer braking force distribution control system and control method |
| CN109606332B (en) * | 2018-11-27 | 2021-08-03 | 江苏大学 | Hybrid theory-based trailer type motor home braking force distribution control system and control method |
| CN111376740A (en) * | 2018-12-28 | 2020-07-07 | 长沙智能驾驶研究院有限公司 | Power semitrailer driving control method and device and power semitrailer system |
| CN111439254A (en) * | 2018-12-28 | 2020-07-24 | 长沙智能驾驶研究院有限公司 | Power semitrailer control method and device, control equipment and storage medium |
| CN109747712B (en) * | 2019-03-08 | 2021-01-08 | 途观科技有限公司 | Steering included angle control system of central shaft trailer |
| CN109747712A (en) * | 2019-03-08 | 2019-05-14 | 途观科技有限公司 | Central axle trailer turns to angle control system |
| CN110901630A (en) * | 2019-11-26 | 2020-03-24 | 东风商用车有限公司 | Method and system for controlling lateral stability of semi-trailer train |
| CN111976715A (en) * | 2020-09-04 | 2020-11-24 | 齐鲁工业大学 | Semi-trailer vehicle and method for improving driving stability by utilizing electronic differential of rear wheels |
| CN113682317A (en) * | 2021-03-05 | 2021-11-23 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Method for predicting transverse stability of electric vehicle |
| CN113682317B (en) * | 2021-03-05 | 2024-04-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Electric automobile lateral stability prediction method |
| CN113928305A (en) * | 2021-10-26 | 2022-01-14 | 浙江吉利控股集团有限公司 | Lane keeping method, lane keeping device, vehicle and storage medium |
| CN113928305B (en) * | 2021-10-26 | 2024-01-09 | 浙江吉利控股集团有限公司 | Lane keeping method, lane keeping device, vehicle and storage medium |
| CN117922560A (en) * | 2024-03-25 | 2024-04-26 | 天津所托瑞安汽车科技有限公司 | Early warning braking method, device, equipment and storage medium for side dead zone of semitrailer |
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Application publication date: 20120704 |