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...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.展开更多
To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupte...To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupted events.Three states of tractors including towing loaded trailers,towing empty trailers,and idle driving are taken into account.Based on the disruption management theory,a scheduling model is constructed to minimize the total deviation cost including transportation time,transportation path,and number of used vehicles under the three states of tractors.A heuristics based on the contract net and simulated annealing algorithm is designed to solve the proposed model.Through comparative analysis of examples with different numbers of newly added transportation tasks and different types of road networks,the performance of the contract net algorithm in terms of deviations in idle driving paths,empty trailer paths,loaded trailer paths,time,number of used vehicles,and total deviation cost are analyzed.The results demonstrate the effectiveness of the model and algorithm,highlighting the superiority of the disruption management model and the contract net annealing algorithm.The study provides a reference for handling unexpected events in the tractor and trailer transportation industry.展开更多
Tractor model BY 304-16 is a four-wheel-drive tractor which is of a newdesign based on model BY 284-16,and gained national assessment in April 1996.At present the product has begun to be exportedto the United States. ...Tractor model BY 304-16 is a four-wheel-drive tractor which is of a newdesign based on model BY 284-16,and gained national assessment in April 1996.At present the product has begun to be exportedto the United States. A direct injection, 3-cylinder dieselengine 395 is used in this tractor, with itsmaximum traction force reaching 9.37KN,its rated output power reaching 30HP, andits maximum output power reaching 35HP.展开更多
针对重型半挂车的侧倾稳定性问题,建立了八自由度的车辆模型,并以LQR主动侧倾控制方法为基础,提出了一种基于回路传输恢复技术(Loop Transfer Recovery:LTR)的LQG主动侧倾控制算法。设计各个车速下LQG/LTR局部状态反馈控制器,并进行了...针对重型半挂车的侧倾稳定性问题,建立了八自由度的车辆模型,并以LQR主动侧倾控制方法为基础,提出了一种基于回路传输恢复技术(Loop Transfer Recovery:LTR)的LQG主动侧倾控制算法。设计各个车速下LQG/LTR局部状态反馈控制器,并进行了阶跃转向工况下车辆的仿真。仿真结果表明:LQG/LTR主动侧倾控制算法有效提高了重型半挂车的侧倾稳定性。展开更多
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)
文摘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.
基金support provided by the National Natural Science Foundation of China(Grant No.52362055)the Science and Technology Plan Project of Guangxi Zhuang Autonomous Region(Grant No.2021AC19334)Guangxi Science and Technology Major Program(Grant No.AA23062053).
文摘To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupted events.Three states of tractors including towing loaded trailers,towing empty trailers,and idle driving are taken into account.Based on the disruption management theory,a scheduling model is constructed to minimize the total deviation cost including transportation time,transportation path,and number of used vehicles under the three states of tractors.A heuristics based on the contract net and simulated annealing algorithm is designed to solve the proposed model.Through comparative analysis of examples with different numbers of newly added transportation tasks and different types of road networks,the performance of the contract net algorithm in terms of deviations in idle driving paths,empty trailer paths,loaded trailer paths,time,number of used vehicles,and total deviation cost are analyzed.The results demonstrate the effectiveness of the model and algorithm,highlighting the superiority of the disruption management model and the contract net annealing algorithm.The study provides a reference for handling unexpected events in the tractor and trailer transportation industry.
文摘Tractor model BY 304-16 is a four-wheel-drive tractor which is of a newdesign based on model BY 284-16,and gained national assessment in April 1996.At present the product has begun to be exportedto the United States. A direct injection, 3-cylinder dieselengine 395 is used in this tractor, with itsmaximum traction force reaching 9.37KN,its rated output power reaching 30HP, andits maximum output power reaching 35HP.
文摘针对重型半挂车的侧倾稳定性问题,建立了八自由度的车辆模型,并以LQR主动侧倾控制方法为基础,提出了一种基于回路传输恢复技术(Loop Transfer Recovery:LTR)的LQG主动侧倾控制算法。设计各个车速下LQG/LTR局部状态反馈控制器,并进行了阶跃转向工况下车辆的仿真。仿真结果表明:LQG/LTR主动侧倾控制算法有效提高了重型半挂车的侧倾稳定性。
