全轴转向半挂铰接车辆通过性优化及验证

Optimization and verification of passing ability for articulated semi-trailer vehicle with full-axle steering

传统半挂铰接车辆在转向过程中会形成内轮差,在增大车辆通道宽度的同时,还存在着严重的安全隐患,全轴转向技术能有效减少内轮差,提高车辆通过性。建立基于一阶延时转向控制策略的半挂铰接车辆运动学模型,对一阶延时控制方程可变参数展开解耦分析,并运用虚拟样机仿真技术验证策略的有效性。结果显示在不同工况下,一阶延时可变参数跟随最优取值,且与第一轴速度线性相关、与第一轴转角的相关性较低。研究表明:与传统前轴转向车辆相比,最优参数下的一阶延时控制策略会使车辆轨迹偏移量降低约80%。该研究为改善半挂铰接车辆通过性问题提供思路,也为方案的后续工程化应用提供数据参考。

The inner wheel difference is formed during the steering process of traditional articulated semi-trailer vehicle increases the width of the vehicle channel,which has serious safety hazards.The full-axle steering technology can effectively reduce the inner wheel difference and improve the passing ability of the vehicle.By establishing a kinematics model of the articulated semi-trailer vehicle based on the first-order delay steering control strategy,a decoupling analysis is carried out for the variable parameters of the first-order delay control equation;and the virtual prototype simulation technology is used to verify the effectiveness of the strategy.Under different working conditions,the optimal value of the first-order delay variable parameter of trajectory following is linearly related to the speed of the first axis,which has a low correlation with the first axis angle.The result shows that compared with the traditional front-axle steering vehicle,the trajectory offset of the vehicle can be reduced by about 80%with the first-order delay control strategy under the optimal parameters.This research provides ideas for improving the passing ability of articulated semi-trailer vehicle,providing a data reference for the subsequent engineering application of the scheme.