半挂汽车列车挂车转向控制方法

doi:10.13229/j.cnki.jdxbgxb.20240700

Abstract

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

CLC Number:

U469

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.

Figures/Tables 16

Fig.1

Table 1

Parameters and values of tractor-semitrailer"

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

Table 1

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Table 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

Semitrailer steering control method for tractor-semitrailers

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