Abstract
The lateral stability control of tractor semi-trailer plays a vital role for enhancing its driving safety, and the distributed electric drive structure of a hub motor creates opportunities and challenges for realising the lateral stability accurately. Based on the dynamics simulation software TruckSim, a nonlinear dynamic tractor semi-trailer model is established, and a MATLAB/Simulink linear three-degree-of-freedom monorail reference model is established. The upper controller adopts fuzzy proportional–integral–derivative control to export active yaw torque values of the tractor and semi-trailer. The lower controller outputs the driving/braking torque of each wheel according to the target wheel driving/braking rules and torque distribution rules. The tractor produce an active yaw torque through conventional differential braking the hub motor is installed on both sides of the semi-trailer, and the active yaw torque is produced by the coordinated control of the driving/braking torque of the hub motor and the differential braking of the mechanical braking system. To prevent wheel locking, the slip rate of each wheel is controlled. Finally, based on the TruckSim–MATLAB/Simulink cosimulation platform, cosimulation is performed under typical working conditions. The simulation results show that the control strategy proposed in this report is superior to the conventional differential braking control (ESP). It can not only improve the lateral stability of the vehicle more effectively, but also improve the roll stability.
Highlights
In recent years, tractor semi-trailers have become a major means in the field of transportation due to their economical and efficient advantages [1]
Since a fully loaded trailer is much heavier than a tractor, the trailer plays a vital role in the lateral stability control of the entire vehicle [2,3,4]
Giving the shortcomings of the existing research, we proposed a coordinated control strategy in the area of hub motor and differential braking
Summary
Tractor semi-trailers have become a major means in the field of transportation due to their economical and efficient advantages [1]. Kharrazi [16] proposed a robust control policy to improve the yaw stability performance of a heavy multi-trailer considering the variation of parameters, and the control results showed that the control strategy greatly reduced the magnification of the rear end, and the braking system did not interfere with the steering system of the tractor. Wang Zhenbo et al [22] developed the stability control strategy of four-wheel independent drive electric vehicle (FWIA-EV) based on optimal control to improve the vehicle handling stability. Xiujian Yang et al [24] investigated a strategy to independently control the direct yawing torque of the tractor and trailer in order to study the stability of the lower semi-trailer under extreme operation, which reduced the complexity of the brake wheel selection decision and obtain a better control effect. By installing hub motors on both sides of the semi-trailer, taking advantage of its distributed drive structure, the lateral stability of the tractor semi-trailer is improved
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