Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking

作     者：ZONG Changfu ZHU Tianjun WANG Chang LIU Haizhen 

作者机构：State Key Laboratory of Automobile Dynamic SimulationJilin UniversityChangchun 130025China Department of Mechanical and Electric EngineeringHebei Engineering UniversityHandan 056021China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2012年第25卷第1期

页      面：88-97页

核心收录：

学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程] 

基　　金：supported by Open Research Fund of State Key Laboratory of Automobile Dynamics Simulation, China (Grant No. 20101103) National Natural Science Foundation of China (Grant No. 51075176) 

主　　题：rollover jack-knifing tractor semi-trailer multi-objective stability control 

摘      要：Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.