CN110901630A - Method and system for controlling lateral stability of semi-trailer train - Google Patents

Method and system for controlling lateral stability of semi-trailer train Download PDF

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Publication number
CN110901630A
CN110901630A CN201911174074.6A CN201911174074A CN110901630A CN 110901630 A CN110901630 A CN 110901630A CN 201911174074 A CN201911174074 A CN 201911174074A CN 110901630 A CN110901630 A CN 110901630A
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China
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tractor
semitrailer
deviation
yaw
delta
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Inventor
郭祥靖
刘勇
刘壮
刘双平
王天奇
关孟樵
谭宪琦
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Dongfeng Commercial Vehicle Co Ltd
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Dongfeng Commercial Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Trailers, e.g. full trailers, caravans
    • B60W2300/145—Semi-trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Abstract

The invention discloses a method and a system for controlling the lateral stability of a semi-trailer train, which relate to the technical field of commercial vehicles, and the method comprises the following steps: calculating ideal yaw velocity of the tractor and the semitrailer according to the real-time steering wheel angle information and the vehicle speed information; calculating yaw rate deviation and derivative of the deviation according to the ideal yaw rate and the actual yaw rate of the tractor and the semitrailer; transmitting the yaw velocity deviation and the derivative of the deviation to a fuzzy PID control module; the fuzzy PID control module respectively outputs additional yaw moment after calculation; calculating to obtain the total braking torque of the left and right wheels of the tractor and the semitrailer according to the additional yaw moment; calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer; and the braking torque is transmitted to the ABS controller of the whole automobile to realize braking. The invention improves the running stability of the semi-trailer train during high-speed large steering, can effectively reduce the instability probability and avoid serious traffic accidents.

Description

Method and system for controlling lateral stability of semi-trailer train
Technical Field
The invention relates to the technical field of commercial vehicles, in particular to a method and a system for controlling the lateral stability of a semi-trailer train.
Background
The lateral stability of the semi-trailer train refers to the performance of resisting external lateral interference and keeping straight running of the train, and has great influence on the operation stability and the safety of the train. The load capacity of the semi-trailer train is larger than that of a common freight vehicle, and the mass center of the semi-trailer train is higher, so that the transverse stability of the semi-trailer train is influenced. Meanwhile, the phenomena of folding, trailer drift, transverse shimmy and the like are also generated in the running process of the semi-trailer train due to road adhesion coefficient, running speed, front wheel corners, transverse load transfer, wheel braking force and the like. Once phenomena such as folding, trailer drifting, transverse shimmy and the like are generated, other vehicles running on the road are easily affected, serious and serious traffic accidents are caused, the safety of life and property of people is greatly affected, and the traffic and transportation efficiency is seriously affected.
The kinematics of the transverse instability of the semi-trailer train is represented by the sharp increase of a tractor side slip angle, a tractor yaw velocity, a semi-trailer yaw velocity and an included angle between a tractor and a semi-trailer central line, and for the transversely unstable semi-trailer train, the stability of the semi-trailer train is ensured only by adjusting a front wheel corner of the semi-trailer train through a steering wheel by a driver, so that an effective control system is needed to improve the operation stability of the semi-trailer train and ensure the driving safety of the train during high-speed large-corner steering.
Disclosure of Invention
The invention aims to overcome the defect that the stability of the semi-trailer train is ensured only by adjusting the corner of the front wheel of the semi-trailer train through a steering wheel by a driver in the background technology, and the invention generally has little effect, and provides a method and a system for controlling the transverse stability of the semi-trailer train.
The invention provides a method for controlling the lateral stability of a semi-trailer train, which comprises the following steps:
according to real-time steering wheel angle information deltafAnd vehicle speed information VxCalculating ideal yaw angular velocity gamma of tractor and semitrailer1，γ2；
According to the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2Yaw rate from actualγr1，γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2；
Yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, the yaw rate is deviated e1，e2And derivative ec of the deviation1，ec2Transmitting to a fuzzy PID control module;
the fuzzy PID control module respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation;
respectively calculating the total braking moments of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer;
calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
and the braking torque is transmitted to the ABS controller of the whole automobile to realize braking.
The preferred scheme is as follows: the method for calculating the ideal yaw velocity of the tractor and the semitrailer according to the real-time steering wheel angle information and the vehicle speed information comprises the following steps:
according to real-time steering wheel angle information deltafAnd vehicle speed information VxThe four-freedom-degree six-axle semi-trailer train reference model passes through the steering wheel angle information deltafAnd vehicle speed information VxRespectively calculating the ideal transverse swing angular velocities gamma of the tractor and the semitrailer1，γ2。
The preferred scheme is as follows: the rootAccording to the ideal yaw velocity gamma of the tractor and the semitrailer1，γ2Actual yaw rate of tractor and semitrailerγr1，γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2The method comprises the following steps:
actual yaw rate of tractor and semitrailerγr1，γr2Subtracting the ideal yaw rate gamma of the tractor and the semitrailer1，γ2Obtaining a yaw rate deviation e1，e2(ii) a Yaw rate deviation e1，e2Derivation of the derivative to obtain the derivative ec of the deviation1，ec2。
The preferred scheme is as follows: the yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2And (3) transferring the data to a PID fuzzy controller, wherein the data comprises:
when the yaw velocity deviation e of the tractor and the semitrailer1，e2Greater than a threshold value k1，k2In the meantime, the deviation e of the yaw rates of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2As input, the data is transmitted to PID fuzzy controllers of the tractor and the semitrailer, otherwise, the data is not transmitted and responded.
The preferred scheme is as follows: the PID fuzzy controller respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation, and the PID fuzzy controller comprises:
the fuzzy PID control module comprises a tractor fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ r, and the tractor fuzzy PID control module fuzzy _ f is input by e1，ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input by e2，ec2An additional yaw moment Δ M2 of the semitrailer is calculated.
The preferred scheme is as follows: and calculating the total braking torque of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer, wherein the total braking torque comprises the following steps:
tractor RBF neural network control module RBFnet _ f deviation e of tractor yaw angular velocity1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR(ii) a The semitrailer RBF neural network control module RBFnet _ r is used for controlling the semitrailer yaw angular speed deviation e2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the braking moments Fr of the left and right wheels of the semitrailerL，FrR。
The preferred scheme is as follows: the method for calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer comprises the following steps:
calculating the braking torque Ff required by the braking of each axle tire through the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfR3、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5。
The preferred scheme is as follows: the ABS controller that will brake torque transmission to whole car realizes the braking, includes:
the braking torque is transmitted to the ABS controller of the whole vehicle from the VCU controller of the whole vehicle through a CAN bus, so that the tractor and the semitrailer CAN be braked in real time.
In another aspect, the present invention provides a system for controlling the lateral stability of a semi-trailer train, comprising:
real vehicle measuring module for real-time detection of steering wheel angle information deltafVehicle speed information VxActual yaw rate gamma r of tractor and semitrailer1，γr2And converts the steering wheel angle information deltafVehicle speed information VxActual yaw rate gamma r of tractor and semitrailer1，γr2The data is transmitted to a VCU vehicle controller through a CAN bus;
VCU vehicle control unit, its useBased on real-time steering wheel angle information deltafAnd vehicle speed information VxCalculating ideal yaw angular velocity gamma of tractor and semitrailer1，γ2(ii) a And the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2With actual yaw rate gamma r1，γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2(ii) a At yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, the yaw rate is deviated e1，e2And derivative ec of the deviation1，ec2Transmitting to a fuzzy PID control module; the fuzzy PID control module respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation; respectively calculating the total braking moments of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer; calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
and the whole ABS controller is used for braking the tractor and the semitrailer in real time.
The preferred scheme is as follows: the real vehicle measurement module includes: the device comprises a steering wheel corner sensor, a yaw rate sensor, a vehicle speed sensor, wheel rotating speed sensors and axle load pressure sensors of a tractor and a semitrailer, wherein the steering wheel corner sensor is used for detecting steering wheel angle information delta in real timefThe vehicle speed sensor is used for detecting vehicle speed information VxThe yaw rate sensors of the tractor and the semitrailer are used for detecting the actual yaw angular velocities gamma r of the tractor and the semitrailer1，γr2The wheel speed sensors are used for detecting the wheel speed, and the axle load pressure sensors are used for detecting the axle load pressure.
The preferred scheme is as follows: the VCU vehicle control unit includes: an upper layer transverse stability decision module and a lower layer braking torque distribution decision module; the upper layer lateral stability decision module comprises: the system comprises a four-degree-of-freedom six-shaft semi-trailer train reference model, a yaw angular velocity deviation calculation module and a fuzzy PID control module; the lower-layer braking torque distribution decision module comprises: the brake torque optimizing and distributing module comprises an RBF neural network control module and a brake torque optimizing and distributing module.
The preferred scheme is as follows: the four-degree-of-freedom six-axle semi-trailer train reference model is used for passing through the angle information delta of the steering wheelfVehicle speed information VxRespectively calculating ideal yaw velocities gamma of the tractor and the semitrailer1，γ2；
The yaw angular velocity deviation calculation module is used for calculating the real-time yaw angular velocity gamma r of the tractor and the semitrailer in the real vehicle measurement module1，γr1Subtracting the ideal yaw rate gamma of the tractor and the semitrailer1，γ1Obtaining a yaw rate deviation e1，e2(ii) a Yaw rate deviation e1，e2Derivation of the derivative to obtain the derivative ec of the deviation1，ec2；
The fuzzy PID control module is used for controlling the yaw velocity deviation e of the tractor and the semitrailer1、e2Greater than a threshold value k1、k2In the meantime, the yaw velocity deviation e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2The input signals are respectively transmitted to the fuzzy PID control modules of the tractor and the semitrailer, and the fuzzy PID control modules calculate and respectively output additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer.
The preferred scheme is as follows: the fuzzy PID control module comprises a tractor fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ r; the fuzzy PID control module fuzzy _ f of the tractor is input with the yaw angular speed deviation e of the tractor1Derivative of deviation from towing vehicle ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input into the deviation e of the yaw angular velocity of the semitrailer2Derivative ec of deviation from semitrailer2An additional yaw moment Δ M2 of the semitrailer is calculated.
The preferred scheme is as follows: the RBF neural network control module comprises a tractor RBF neural network control module RBFnet _ f and a semitrailer RBF neural network control module RBFnet _ r, the tractor RBF neural network control module RBFnet _ f uses the tractor yaw angular speed deviation e1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR(ii) a The semitrailer RBF neural network control module RBFnet _ r is used for controlling the semitrailer yaw angular speed deviation e2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the braking moments Fr of the left and right wheels of the semitrailerL，FrR。
The preferred scheme is as follows: the braking torque optimal distribution module is used for calculating the braking torque Ff required by the braking of the tires of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfRs、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5。
On the basis of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention relates to a method and a system for controlling the lateral stability of a semi-trailer train, wherein a tractor and a semi-trailer are respectively and independently controlled, the additional yaw moment of the tractor and the semi-trailer is calculated in real time according to the yaw velocity deviation and the derivative of the deviation of the tractor and the semi-trailer, and respectively obtaining the total braking torque of the left and right wheels of the tractor and the semitrailer according to the additional yaw moment of the tractor and the semitrailer, the braking torque required by the braking of the tires of each axle is calculated through the respective front and rear axle load ratios of the tractor and the semitrailer, and finally the VCU vehicle controller transmits the braking torque to the ABS controller of the vehicle through a CAN bus to realize the braking, the transverse stability of the whole train is achieved, the running stability of the semi-trailer train during high-speed large steering is improved, the instability probability can be effectively reduced, and serious traffic accidents are avoided.
Drawings
FIG. 1 is a schematic diagram of a system architecture of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a four degree of freedom six-axle semi-trailer train reference model in accordance with an embodiment of the present invention;
FIG. 3 shows e, ec and p in an embodiment of the present inventionk、ik、dkA schematic representation of the membership function of (a);
FIG. 4 is a flow diagram of an upper level lateral stability decision module of an embodiment of the present invention;
FIG. 5 is a schematic diagram of an RBF neural network according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a tractor RBF neural network control module RBFnet _ f according to an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Example 1
Referring to fig. 1, an embodiment of the present invention provides a method for controlling lateral stability of a semi-trailer train, including the following steps:
step 101, according to real-time steering wheel angle information deltafAnd vehicle speed information VxThe four-freedom-degree six-axle semi-trailer train reference model passes through the steering wheel angle information deltafAnd vehicle speed information VxRespectively calculating the ideal yaw velocity gamma of the tractor and the semitrailer1，γ2。
102, according to the respective ideal yaw rates gamma of the tractor and the semitrailer1，γ2The actual yaw rate gamma r of the tractor and the semitrailer1，γr2Calculating to obtain respective yaw velocity deviation e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2。
103, when the respective yaw velocity deviation e of the tractor and the semitrailer1，e2Greater than a threshold value k1，k2While, the respective yaw rate deviations e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2As input, the fuzzy PID control module is respectively transmitted to the tractor and the semitrailer, otherwise, the fuzzy PID control module does not transmit and respond dataShould be used.
And step 104, after calculation, the fuzzy PID control modules of the tractor and the semitrailer respectively output additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer.
And 105, respectively calculating the total braking torques of the left and right wheels of the tractor and the semitrailer by the lower-layer braking torque distribution decision module according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer.
106, calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
and 107, transmitting the braking torque required by braking of the tires of the axles of the tractor and the semitrailer in the step 106 to a finished automobile ABS controller through a CAN bus by the VCU finished automobile controller, so as to realize real-time braking of the tractor and the semitrailer.
Principle of operation
The invention discloses a method for controlling the lateral stability of a semi-trailer trainfAnd vehicle speed information VxThe four-freedom-degree six-axle semi-trailer train reference model passes through the steering wheel angle information deltafAnd vehicle speed information VxRespectively calculating the ideal yaw velocity gamma of the tractor and the semitrailer1，γ2. According to the respective ideal yaw angular velocities gamma of the tractor and the semitrailer1，γ2The actual yaw rate gamma r of the tractor and the semitrailer1，γr2Calculating to obtain respective yaw velocity deviation e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2According to the respective yaw angular speed deviations e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2Calculating additional yaw moments of the tractor and the semi-trailer, respectively obtaining total braking moments of wheels on the left side and the right side of the tractor and the semi-trailer according to the additional yaw moments of the tractor and the semi-trailer, calculating braking moments required by tires of all axles for braking according to respective front-to-rear axle load ratios of the tractor and the semi-trailer, and finally, using a VCU vehicle control unit to control the wheels of all axles to be onThe braking torque is transmitted to the whole vehicle ABS controller through the CAN bus to realize braking, so that the aim of transverse stability of the whole vehicle is fulfilled, the running stability of a semi-trailer train during high-speed large steering is improved, the instability probability CAN be effectively reduced, and serious traffic accidents are avoided.
Example 2
Referring to fig. 2, a method for controlling lateral stability of a semi-trailer train according to an embodiment of the present invention is different from embodiment 1 in that: the four degrees of freedom of the four-degree-of-freedom six-shaft semi-trailer train reference model in the embodiment means that the reference model only considers four degrees of freedom in the yaw direction and the lateral direction of the tractor and the semi-trailer, and the six shafts are the steering shaft and the two driving shafts of the tractor and the three shafts of the semi-trailer.
According to a lateral motion equation formula of the semi-trailer train:
Figure BDA0002289500480000091
the formula of the moment balance equation of the finished vehicle to the mass center column of the tractor is as follows:
Figure BDA0002289500480000101
the formula of the semitrailer is as follows:
Figure BDA0002289500480000102
wherein the content of the first and second substances,
Figure BDA0002289500480000103
h1＝-a
h2＝b1
h3＝b2
h4＝c1+l1+l2
h5＝c2+l1+l2
h6＝c3+l1+l2
wherein m is1、m2The weights of the tractor and the semitrailer are respectively; vx、Vy1Respectively the longitudinal speed and the lateral speed of the tractor; i isz1、Iz2The rotational inertia of the tractor and the semitrailer respectively; a. b1、b2The distance from a first shaft, a second shaft and a third shaft of the tractor to the center of mass of the tractor is divided; c. C1、c2、c3The distances from a first shaft, a second shaft and a third shaft of the semitrailer to the mass center of the semitrailer are respectively; l1The distance from the center of mass of the tractor to the hinge point; l2The distance between the mass center of the semitrailer and a hinge point; theta is an included angle between the longitudinal direction of the tractor and the longitudinal direction of the semitrailer; deltafIs the corner of the front wheel of the tractor; ky1、Ky2、Ky3Respectively equivalent rigidity of a first tractor, a second tractor and a third tractor; ky4、Ky5、Ky6Equivalent rigidity of four, five and six shafts of the semitrailer is respectively;
from steering wheel angle information deltafAnd vehicle speed information VxAs input, the ideal yaw rate gamma of the tractor and the semitrailer are obtained1、γ2. Furthermore, considering that the actual speed of the semi-trailer train on the rainy and snowy road does not exceed 80km/h and is lower than 30km/h, the stability of the semi-trailer train is better, the semi-trailer train is divided into 11 states by 30km/h, 35km/h, 40km/h, 45km/h, 50km/h, 55km/h, 60km/h, 65km/h, 70km/h, 75km/h and 80km/h, taking the actual speed of 42km/h as an example, the actual speed of 40km/h and 45km/h, and the reference model outputs the ideal yaw angular velocity gamma of the tractor and the semi-trailer calculated by 40km/h at the moment of the speed1、γ2As an output, so on; when the vehicle speed is less than 30km/h, no lateral stability control is performed.
Example 3
The embodiment of the invention provides a method for controlling the lateral stability of a semi-trailer train, which is different from the embodiment 1 in that: actual yaw rate gamma r of tractor and semitrailer1，γr2Minus the tractor andideal yaw rate gamma of semi-trailer1，γ2Obtaining respective yaw velocity deviation e of the tractor and the semitrailer1，e2(ii) a Yaw velocity deviation e of tractor and semitrailer1，e2Obtaining derivative ec of respective deviation of tractor and semitrailer by taking derivative1，ec2；
e1＝γr1-γ1；
e2＝γr2-γ2；
ec1＝d(e1)；
ec2＝d(e2)。
Example 4
Referring to fig. 3, a method for controlling lateral stability of a semi-trailer train according to an embodiment of the present invention is different from embodiment 1 in that: the fuzzy PID control module comprises a tractor fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ r. The fuzzy PID control module fuzzy _ f of the tractor is input by e1，ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input by e2，ec2An additional yaw moment Δ M2 of the semitrailer is calculated. Taking into account the respective actual deviations e of the tractor and the semitrailer1，e2Derivative ec of the respective deviation from tractor and semitrailer1，ec2Range of (e), input quantity tractor and semitrailer respective actual deviation e1，e2Initial value of universe after fuzzification is set to [ -15, 15]Derivative ec of the respective deviations of the tractor and the semitrailer of the input quantity1，ec2Initial value of universe after fuzzification is set to be [ -80, 80 [ -80 [)](ii) a For convenient debugging, the output kf of the fuzzy PID control module fuzzy _ f of the tractorp，kfi，kfdAnd the output kr of the semitrailer fuzzy _ rp，kri，krdAll universe values after fuzzification are set to be 0, 1](ii) a The fuzzy input and output language variables are NB (negative big), NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (middle), PB (positive big); said e1，e2，ec1，ec2，kfp，kfi，kfd，krp，kri，krdPart of the data is subjected to Gaussian distribution, and part of the data is subjected to a triangular membership function, which is shown in FIG. 3; the control rules of the tractor fuzzy PID control module fuzzy _ f and the semitrailer fuzzy PID control module fuzzy _ r are shown in tables 1, 2 and 3.
TABLE 1
Figure BDA0002289500480000121
Figure BDA0002289500480000131
TABLE 2
Figure BDA0002289500480000132
TABLE 3
Figure BDA0002289500480000133
Example 5
Referring to fig. 5 and fig. 6, a method for controlling lateral stability of a semi-trailer train according to an embodiment of the present invention is different from embodiment 1 in that: and the lower-layer brake torque distribution decision module comprises an RBF neural network control module and a brake torque optimization distribution module, and the RBF neural network control module comprises a tractor RBF neural network control module RBFnet _ f and a semitrailer RBF neural network control module RBFnet _ r. Tractor RBF neural network control module RBFnet _ f deviation e of tractor yaw angular velocity1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR. Semitrailer RBF neural network control module RBFnet _ r with semitrailer yaw angular velocity deviation e2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the left semitrailer of the semitrailerRight side wheel brake torque FrL，FrR. As the control strategies of the tractor RBF neural network control module RBFnet _ f and the semitrailer RBF neural network control module RBFnet _ r are the same, and only the calibration amounts are different, the tractor RBF neural network control module RBFnet _ f is taken as an example for explanation.
The tractor RBF neural network control module RBFnet _ f is characterized in that a radial basis vector in a network structure:
H＝(h1，h2，...，hm)T
network input vector:
X＝(x1)T
network jth node center vector:
Cj＝(cj1，cj2，...，cjn)T
i＝1，2，...，n
gaussian base function:
Figure BDA0002289500480000141
j＝1，2，...，m
network base width vector:
B＝(b1，b2，...，bm)T
network weight vector:
Wj＝(w1，w2，...，wm)T
Vj＝(v1，v2，...，vm)T
output of the RBF neural network system:
y1＝w1h1+w2h2+…+wmhm
y2＝v1h1+v2h2+…+vmhm
performance index function:
E(k)＝(γd1-γ1)2/2
the iterative algorithm of the output weight, the node base width function and the node center vector by the gradient descent method is as follows:
wj(k)＝wj(k-1)+η(γd1-γ1)hj+α(wj(k-1)-wj(k-2))
Figure BDA0002289500480000151
bj(k)＝bj(k-1)+ηΔbj+α(bj(k-1)-bj(k-2))
Figure BDA0002289500480000152
cji(k)＝cji(k-1)+ηΔcji+α(cji(k-1)-cji(k-2))
the RBFnet _ f control module of the tractor is characterized in that the RBFnet _ f of the tractor takes the number M of neurons in a hidden layer of a neural network as 5, the learning rate η as 0.5, the momentum factor α as 0.05 and the network structure as 1-5-2, namely, the input quantity is the additional yaw moment delta M1 of the tractor and the output quantity is the braking moment Ff of the left wheel and the right wheel of the tractorL、FfR(ii) a Network initial weight Wj、VjTaking a random value, and taking a Gaussian function initial value:
Figure BDA0002289500480000153
B＝(1.51.51.51.51.5)T。
example 6
The embodiment of the invention provides a method for controlling the lateral stability of a semi-trailer train, which is different from the embodiment 1 in that: calculating the braking torque Ff required by the braking of each axle tire through the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfR3、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5(ii) a Wherein FfL1、FfL2、FfL3Braking torque of left tires of three driving shafts of the tractor respectively; ffR1、FfR2、FfR3The braking torque of the tires on the right sides of the three driving shafts of the tractor respectively; frL3、FrL4、FrL5Braking torque of left tires of three shafts of the semitrailer respectively; frR3、FrR4、FrR5The braking torque of the tires on the right sides of the three shafts of the semitrailer is respectively.
Taking the braking torques of the left and right tires of the driving shaft of the tractor and the left and right tires of the first shaft of the semitrailer as an example, the calculation method is as follows:
FfL1＝FfL*Fflz1/(Fflz1+Fflz2+Fflz3)；
FfR1＝FfR*Ffrz1/(Ffrz1+Ffrz2+Ffrz3)；
FrL3＝FrL*Frlz1/(Frlz1+Frlz2+Frlz3)；
FrR3＝FrR*Frrz1/(Frrz1+Frrz2+Frrz3)；
wherein:
Fflz1、Fflz2、Fflz3loads of tires on the left sides of three driving shafts of the tractor respectively;
Ffrz1、Ffrz2、Ffrz3loads of tires on the right sides of three driving shafts of the tractor respectively;
Frlz1、Frlz2、Frlz3loads of left tires of three shafts of the semitrailer are respectively;
Frrz1、Frrz2、Frrz3respectively the loads of the tires on the right side of the three shafts of the semitrailer.
Example 7
Referring to fig. 1, a lateral stability control system for a semi-trailer train according to an embodiment of the present invention includes:
the real vehicle measuring module comprises a steering wheel angle sensor, a yaw rate sensor of a tractor and a semitrailer, a vehicle speed sensor, wheel rotating speed sensors and axle load pressure sensors, wherein the steering wheel angle sensor is used for detecting steering wheel angle information delta in real timefThe vehicle speed sensor is used for detecting vehicle speed information VxThe yaw rate sensors of the tractor and the semitrailer are used for detecting the actual yaw angular velocities gamma r of the tractor and the semitrailer1，γr2The wheel speed sensors are used for detecting the wheel speed, and the axle load pressure sensors are used for detecting the axle load pressure. The real vehicle measuring module is used for measuring the angle information delta of the steering wheelfVehicle speed information VxActual yaw rate gamma r of tractor and semitrailer1，γr2And transmitting the data to the VCU vehicle control unit through a CAN bus.
VCU vehicle control unit for controlling the steering wheel angle according to the real-time steering wheel angle information deltafAnd vehicle speed information VxCalculating ideal yaw angular velocity gamma of tractor and semitrailer1，γ2(ii) a And the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2With actual yaw rate gamma r1，γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2(ii) a At yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, the yaw rate is deviated e1，e2And derivative ec of the deviation1，ec2Transmitting to a fuzzy PID control module; the fuzzy PID control module respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation; respectively calculating the total braking moments of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer; calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
the braking torque required by the braking of the tires of the axles of the trailer and the trailer is transmitted to the ABS controller of the trailer by the VCU controller through a CAN bus, so that the real-time braking of the trailer and the trailer is realized.
Example 8
Referring to fig. 4, a lateral stability control system for a semi-trailer train according to an embodiment of the present invention is different from embodiment 7 in that: VCU vehicle control unit includes: an upper layer transverse stability decision module and a lower layer braking torque distribution decision module; the upper layer lateral stability decision module comprises: the system comprises a four-degree-of-freedom six-shaft semi-trailer train reference model, a yaw angular velocity deviation calculation module and a fuzzy PID control module; the lower-layer braking torque distribution decision module comprises: the brake torque optimizing and distributing module comprises an RBF neural network control module and a brake torque optimizing and distributing module.
The four-degree-of-freedom six-axle semi-trailer train reference model is used for passing through steering wheel angle information deltafVehicle speed information VxRespectively calculating ideal yaw velocities gamma of the tractor and the semitrailer1，γ2；
The yaw angular velocity deviation calculation module is used for enabling the tractor and the semitrailer in the real vehicle measurement module to respectively measure the real-time yaw velocity gamma r1，γr1Subtracting the ideal yaw rate gamma of the tractor and the semitrailer1，γ1Obtaining respective yaw velocity deviation e of the tractor and the semitrailer1，e2(ii) a Yaw velocity deviation e of tractor and semitrailer1，e2Obtaining derivative ec of respective deviation of tractor and semitrailer by taking derivative1，ec2；
The fuzzy PID control module is used for controlling the yaw rate deviation e of the tractor and the semitrailer1、e2Greater than a threshold value k1、k2In the meantime, the respective yaw velocity deviations e of the tractor and the semitrailer1，e2And derivative ec of the deviation1，ec2The input signals are respectively transmitted to respective fuzzy PID control modules of the tractor and the semitrailer, and the fuzzy PID control modules calculate and respectively output additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer.
The fuzzy PID control module includes tractionA vehicle fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ r; the fuzzy PID control module fuzzy _ f of the tractor is input with the yaw angular speed deviation e of the tractor1Derivative of deviation from towing vehicle ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input into the deviation e of the yaw angular velocity of the semitrailer2Derivative ec of deviation from semitrailer2An additional yaw moment Δ M2 of the semitrailer is calculated.
Example 9
Referring to fig. 4, a lateral stability control system for a semi-trailer train according to an embodiment of the present invention is different from embodiment 8 in that: the RBF neural network control module comprises a tractor RBF neural network control module RBFnet _ f and a semitrailer RBF neural network control module RBFnet _ r, and the tractor RBF neural network control module RBFnet _ f deviates with the tractor yaw angular speed e1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR(ii) a The semitrailer RBF neural network control module RBFnet _ r is used for controlling the semitrailer yaw angular speed deviation e2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the braking moments Fr of the left and right wheels of the semitrailerL，FrR。
The braking torque optimal distribution module is used for calculating the braking torque Ff required by the braking of the tires of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfR3、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5. Wherein FfL1、FfL2、FfL3Braking torque of left tires of three driving shafts of the tractor respectively; ffR1、FfR2、FfR3The braking torque of the tires on the right sides of the three driving shafts of the tractor respectively; frL3、FrL4、FrL5Braking torque of left tires of three shafts of the semitrailer respectively; frR3、FrR4、FrR5The braking torque of the tires on the right sides of the three shafts of the semitrailer is respectively.
Taking the braking torques of the left and right tires of the driving shaft of the tractor and the left and right tires of the first shaft of the semitrailer as an example, the calculation method is as follows:
FfL1＝FfL*Fflz1/(Fflz1+Fflz2+Fflz3)；
FfR1＝FfR*Ffrz1/(Ffrz1+Ffrz2+Ffrz3)；
FrL3＝FrL*Frlz1/(Frlz1+Frlz2+Frlz3)；
FrR3＝FrR*Frrz1/(Frrz1+Frrz2+Frrz3)；
wherein:
Fflz1、Fflz2、Fflz3loads of tires on the left sides of three driving shafts of the tractor respectively;
Ffrz1、Ffrz2、Ffrz3loads of tires on the right sides of three driving shafts of the tractor respectively;
Frlz1、Frlz2、Frlz3loads of left tires of three shafts of the semitrailer are respectively;
Frrz1、Frrz2、Frrz3respectively the loads of the tires on the right side of the three shafts of the semitrailer.
Various modifications and variations of the embodiments of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention, provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.

Claims (15)

1. A method for controlling the lateral stability of a semi-trailer train is characterized by comprising the following steps:
according to real-time steering wheel angle information deltafAnd vehicle speed information VxCalculating ideal yaw angular velocity gamma of tractor and semitrailer1，γ2；
According to the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2With actual yaw rate gamma r1,γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2；
Yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, the yaw rate is deviated e1，e2And derivative ec of the deviation1，ec2Transmitting to a fuzzy PID control module;
the fuzzy PID control module respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation;
respectively calculating the total braking moments of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer;
calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
and the braking torque is transmitted to the ABS controller of the whole automobile to realize braking.
2. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
the method for calculating the ideal yaw velocity of the tractor and the semitrailer according to the real-time steering wheel angle information and the vehicle speed information comprises the following steps:
according to real-time steering wheel angle information deltafAnd vehicle speed information VxThe four-freedom-degree six-axle semi-trailer train reference model passes through the steering wheel angle information deltafAnd vehicle speed information VxRespectively calculating the ideal transverse swing angular velocities gamma of the tractor and the semitrailer1，γ2。
3. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
according to the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2The actual yaw rate gamma r of the tractor and the semitrailer1,γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2The method comprises the following steps:
actual yaw rate gamma r of tractor and semitrailer1,γr2Subtracting the ideal yaw rate gamma of the tractor and the semitrailer1，γ2Obtaining a yaw rate deviation e1,e2(ii) a Yaw rate deviation e1,e2Derivation of the derivative to obtain the derivative ec of the deviation1,ec2。
4. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
the yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2And (3) transferring the data to a PID fuzzy controller, wherein the data comprises:
when the yaw velocity deviation e of the tractor and the semitrailer1，e2Greater than a threshold value k1，k2In the meantime, the deviation e of the yaw rates of the tractor and the semitrailer1,e2And derivative ec of the deviation1,ec2As input, the data is transmitted to PID fuzzy controllers of the tractor and the semitrailer, otherwise, the data is not transmitted and responded.
5. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
the PID fuzzy controller respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation, and the PID fuzzy controller comprises:
the fuzzy PID control module comprises a tractor fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ rThe fuzzy PID control module fuzzy _ f of the tractor is input by e1,ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input by e2,ec2An additional yaw moment Δ M2 of the semitrailer is calculated.
6. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
and calculating the total braking torque of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer, wherein the total braking torque comprises the following steps:
tractor RBF neural network control module RBFnet _ f deviation e of tractor yaw angular velocity1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR(ii) a Semitrailer RBF neural network control module RBFnet _ r with semitrailer yaw angular velocity deviation e2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the braking moments Fr of the left and right wheels of the semitrailerL，FrR。
7. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
the method for calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer comprises the following steps:
calculating the braking torque Ff required by the braking of each axle tire through the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfR3、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5。
8. The method of claim 1, wherein the lateral stability control of the semi-trailer train is performed by a plurality of sensors,
the ABS controller that will brake torque transmission to whole car realizes the braking, includes:
the braking torque is transmitted to the ABS controller of the whole vehicle from the VCU controller of the whole vehicle through a CAN bus, so that the tractor and the semitrailer CAN be braked in real time.
9. The utility model provides a semi-trailer train lateral stability control system which characterized in that includes:
real vehicle measuring module for real-time detection of steering wheel angle information deltafVehicle speed information VxActual yaw rate gamma r of tractor and semitrailer1,γr2And converts the steering wheel angle information deltafVehicle speed information VxActual yaw rate gamma r of tractor and semitrailer1,γr2The data is transmitted to a VCU vehicle controller through a CAN bus;
VCU vehicle control unit for controlling the steering wheel angle according to the real-time steering wheel angle information deltafAnd vehicle speed information VxCalculating ideal yaw angular velocity gamma of tractor and semitrailer1，γ2(ii) a And the ideal yaw angular velocity gamma of the tractor and the semitrailer1，γ2With actual yaw rate gamma r1,γr2Calculating yaw angular velocity deviation e1，e2And derivative ec of the deviation1，ec2(ii) a At yaw rate deviation e1，e2Satisfies a set threshold k1，k2While, the yaw rate is deviated e1，e2And derivative ec of the deviation1，ec2Transmitting to a fuzzy PID control module; the fuzzy PID control module respectively outputs additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer after calculation; respectively calculating the total braking moments of the left and right wheels of the tractor and the semitrailer according to the additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer; calculating the braking torque required by the tire braking of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailer;
and the whole ABS controller is used for braking the tractor and the semitrailer in real time.
10. The semi-trailer train lateral stability control system of claim 9,
the real vehicle measurement module includes: the device comprises a steering wheel corner sensor, a yaw rate sensor, a vehicle speed sensor, wheel rotating speed sensors and axle load pressure sensors of a tractor and a semitrailer, wherein the steering wheel corner sensor is used for detecting steering wheel angle information delta in real timefThe vehicle speed sensor is used for detecting vehicle speed information VxThe yaw rate sensors of the tractor and the semitrailer are used for detecting the actual yaw angular velocities gamma r of the tractor and the semitrailer1,γr2The wheel speed sensors are used for detecting the wheel speed, and the axle load pressure sensors are used for detecting the axle load pressure.
11. The semi-trailer train lateral stability control system of claim 9,
the VCU vehicle control unit includes: an upper layer transverse stability decision module and a lower layer braking torque distribution decision module; the upper layer lateral stability decision module comprises: the system comprises a four-degree-of-freedom six-shaft semi-trailer train reference model, a yaw angular velocity deviation calculation module and a fuzzy PID control module; the lower-layer braking torque distribution decision module comprises: the brake torque optimizing and distributing module comprises an RBF neural network control module and a brake torque optimizing and distributing module.
12. The semi-trailer train lateral stability control system of claim 11,
the four-degree-of-freedom six-axle semi-trailer train reference model is used for passing through the angle information delta of the steering wheelfVehicle speed information VxRespectively calculating ideal yaw velocities gamma of the tractor and the semitrailer1，γ2；
The yaw angular velocity deviation calculation module is used for calculating the real-time yaw angular velocity gamma r of the tractor and the semitrailer in the real vehicle measurement module1,γr1Subtracting the ideal yaw rate gamma of the tractor and the semitrailer1，γ1Obtaining a yaw rate deviation e1,e2(ii) a Yaw rate deviation e1,e2Derivation of the derivative to obtain the derivative ec of the deviation1,ec2；
The fuzzy PID control module is used for controlling the yaw velocity deviation e of the tractor and the semitrailer1、e2Greater than a threshold value k1、k2In the meantime, the yaw velocity deviation e of the tractor and the semitrailer1,e2And derivative ec of the deviation1,ec2The input signals are respectively transmitted to the fuzzy PID control modules of the tractor and the semitrailer, and the fuzzy PID control modules calculate and respectively output additional yaw moments delta M1 and delta M2 of the tractor and the semitrailer.
13. The semi-trailer train lateral stability control system of claim 12,
the fuzzy PID control module comprises a tractor fuzzy PID control module fuzzy _ f and a semitrailer fuzzy PID control module fuzzy _ r; the fuzzy PID control module fuzzy _ f of the tractor is input with the yaw angular speed deviation e of the tractor1Derivative of deviation from towing vehicle ec1Calculating to obtain an additional yaw moment delta M1 of the tractor; the fuzzy PID control module fuzzy _ r of the semitrailer is input into the deviation e of the yaw angular velocity of the semitrailer2Derivative ec of deviation from semitrailer2An additional yaw moment Δ M2 of the semitrailer is calculated.
14. The semi-trailer train lateral stability control system of claim 11,
the RBF neural network control module comprises a tractor RBF neural network control module RBFnet _ f and a semitrailer RBF neural network control module RBFnet _ r, and the tractor RBF neural network control module RBFnet _ f deviates with the tractor yaw angular speed e1Adaptive learning is performed as a reference, and the left and right wheel braking moments Ff of the tractor are output using the additional yaw moment Δ M1 of the tractor as an inputL，FfR(ii) a Semitrailer RBF neural network control module RBFnet _ rWith deviation e of the yaw rate of the semitrailer2The adaptive learning is carried out as reference, and the additional yaw moment delta M2 of the semitrailer is used as input to output the braking moments Fr of the left and right wheels of the semitrailerL，FrR。
15. The semi-trailer train lateral stability control system of claim 11,
the braking torque optimal distribution module is used for calculating the braking torque Ff required by the braking of the tires of each axle according to the respective front and rear axle load ratios of the tractor and the semitrailerL1、FfL2、FfL3、FfR1、FfR2、FfR3、FrL3、FrL4、FrL5、FrR3、FrR4、FrR5。
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