Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking

Abstract

How to improve the driving performance of the vehicle while carrying out path tracking control has become a hot issue in current research. In this paper, an MPC (Model predictive control) path tracking control algorithm incorporating differential braking control is proposed. By establishing a vehicle dynamics model of a semi-trailer train, the model predictive control theory is adopted for path tracking. Then, the vehicle dynamics model, considering the additional yaw moment, is established to design the differential braking control strategy. Under low-speed working conditions, the PID (Proportional Integral Derivative) algorithm is used to solve the additional yaw moment with the yaw rate of the tractor traveling alone as the desired value. Under high-speed working conditions, the Fuzzy PID algorithm is used to solve the additional yaw moment with the control objective of reducing the articulation angle. Simulation models are built using MATLAB/Simulink, and TruckSim for numerical experimental validation. The numerical experimental results show that the differential braking control method proposed in this paper can improve the maneuverability of vehicles driving in low-speed conditions and the stability of vehicles driving in high-speed conditions without decreasing the precision of path tracking control.