半挂汽车列车挂车转向控制方法

doi:10.13229/j.cnki.jdxbgxb.20240700

摘要/Abstract

摘要：

为解决半挂汽车列车低速转向轨迹偏差和高速移线稳定性问题，采用半挂车转向控制方法，根据车间夹角推导出半挂车车轮转角，通过半挂车转向解决其低速转向时的轨迹偏差问题。同时，参考半挂车横摆角速度反馈计算半挂车车轮转角，通过半挂车转向控制解决其高速移线工况下的横向稳定性问题。最后，采用TruckSim中的半挂汽车列车动力学模型，分别在低速圆形转弯工况和高速单移线工况下进行仿真。仿真结果表明：本文提出的半挂车转向方法可将轨迹跟随偏差减小92.3%，将半挂车的横摆角速度降低33.4%。本研究为半挂汽车列车的轨迹偏差和稳定性控制提出了一种解决方案，并为进一步发展大型、长编组汽车列车提供参考。

关键词: 动力学模型, 半挂车, 控制, 轨迹偏差, 稳定性

Abstract:

To solve the problem of low-speed off-tracking and high-speed single lane change stability of tractor-semitrailer， this paper adopted the semitrailer steering control method. The steering angle for the wheels of the semitrailer were deduced according to the articulation angle. And the off-tracking problem could be solved by semitrailer steering control. At the same time， the steering angle was calculated by referencing its yaw rate feedback. And the lateral stability problem can be solved with semitrailer steering control under single lane change condition at high speeds. Finally， the dynamic model of tractor-semitrailer vehicle was used to do simulations under a circle case and a single lane change operation. The simulation results show that the semitrailer steering control methods reduce the off-tracking by 92.3% and the yaw rate of semitrailer by 33.4% respectively. This study proposes a solution for solving the off-tracking and lateral stability problems and provide a reference for the further development of long combination vehicle （LCV）.

Key words: dynamic model, semitrailer, control, off-tracking, stability

中图分类号:

U469

王硕,王文军,成波. 半挂汽车列车挂车转向控制方法[J]. 吉林大学学报(工学版), 2026, 56(1): 54-63.

Shuo WANG,Wen-jun WANG,Bo CHENG. Semitrailer steering control method for tractor-semitrailers[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 54-63.

图/表 16

图1

表1

半挂汽车列车参数"

符号	含义说明	数值	单位	符号	含义说明	数值	单位
$m 1$	牵引车质量	10 219	kg	$I 1$	牵引车横摆转动惯量	39 951.5	kg·m²
$m 2$	半挂车质量	12 665	kg	$I 2$	半挂车横摆转动惯量	67 928	kg·m²
$a 1$	牵引车前轴到其质心的距离	1.11	m	$c s 1$	牵引车前轴等效侧偏刚度	-349 430	N/rad
$b 1$	牵引车后轴到其质心的距离	2.79	m	$c s 2$	牵引车后轴等效侧偏刚度	-491 540	N/rad
$a 2$	半挂车质心到铰接点的距离	5.221	m	$c s 3$	半挂车轴等效侧偏刚度	-333 890	N/rad
$b 2$	半挂车后轴到其质心的距离	4.779	m	$L i (i = 1,2)$	牵引车轴距和半挂车销轴距	3.9，10	m
$d$	牵引车后轴到铰接点的距离	0.5	m

表1

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表1

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类别	无控制		LQR控制		反馈控制
类别	a_y /（m· s^-2）	r（rad· s^-1）	a_y /（m· s^-2）	r（rad· s^-1）	a_y /（m· s^-2）	r（rad· s^-1）
牵引车	0.886	0.051	0.919	0.053	0.895	0.052
半挂车	0.841	0.038	0.751	0.035	0.861	0.025
RWA	0.95	0.745	0.82	0.66	0.96	0.48