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

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.

Optimization for vehicle scheduling in iron and steel works based on semi-trailer swap transport

In order to solve internal logistics problems of iron and steel works,such as low transportation efficiency of vehicles and high transportation cost,the production process and traditional transportation style of iron and steel works were introduced.The internal transport tasks of iron and steel works were grouped based on cluster analysis according to demand time of the transportation.An improved vehicle scheduling model of semi-trailer swap transport among loading nodes and unloading nodes in one task group was set up.The algorithm was designed to solve the vehicle routing problem with simultaneous pick-up and delivery(VRPSPD) problem based on semi-trailer swap transport.A solving program was written by MATLAB software and the method to figure out the optimal path of each grouping was obtained.The dropping and pulling transportation plan of the tractor was designed.And an example of semi-trailer swap transport in iron and steel works was given.The results indicate that semi-trailer swap transport can decrease the numbers of vehicles and drivers by 54.5% and 88.6% respectively compared with decentralized scheduling in iron and steel works,and the total distance traveled reduces by 43.5%.The semi-trailer swap transport can help the iron and steel works develop the production in intension.

Modal Correlation Based Analysis on Dynamic Characters of a Commercial Semi-Trailer's Chassis Frames

In order to evaluate two different schemes＇ structural dynamic characters, dynamic response analysis of a commercial truck＇s main chassis frames is carried out. On the basis of correlation study between the tested and calculated modal results, the assembled frames＇ finite element analysis （FEA） models with sufficient precision are built up. Random response analysis in frequency domain is carried out with these FEA models, RMS values of yon Mises and main principle stresses of these two frames are obtained. It shows that the analysis resuits of the distributing tendency and concrete value ranges are coincident very well with test results. And from the results, it could be concluded that frames of scheme A endures relative better loading conditions and should be adopted as the final scheme.

The Roll Stability Analysis of Semi-Trailer Based on the Wheel Force

It is different for the liquid tank semi-trailer to keep roll stability during turning or emergency voidance,and that may cause serious accidents.Although the scholars did lots of research about the roll stability of liquid tank semi-trailer in theory by calculating and simulation,how to make an effective early warning of rollover is still unsolved in practice.The reasons include the complex driving condition and the difficulty of the vehicle parameter obtaining.The feasible method used currently is evaluating the roll stability of a liquid tank semi-trailer by the lateral acceleration or the attitude of the vehicle.Unfortunately,the lateral acceleration is more useful for sideslip rather than rollover,and the attitude is a kind of posterior way,which means it is hard to take measures to cope with the rollover accident when the attitude exceeds the safety threshold.Considering the movement of the vehicle is totally caused by the wheel force,the rollover could also be predicted by the changing of the wheel force.Therefore,in this paper,we developed a method to analyze the roll stability by the vertical wheel force.A thorough experiment environment is established,and the effectiveness of the proposed method is verified in real driving conditions.

Development of the Interurban Service with the Use of Alternative Commercial Road Trains

The main task of this paper is to review the principal aspects in organization of interurban long haul service with the use of road trains on the basis of the ＂district＂ traffic system. The goal of the paper is to determine the most effective methods of trucking operations in order to highlight the regularities that characterize these methods. The paper describes practicable methods of freight flow analysis, some factors and parameters concerning movement of motor-vehicle trains and original route schedules as well. Of special interest is the obtained algorithm of economically effective trucking operations of motor-vehicle trains on the route.

Regulated emission characteristics of in-use LNG and diesel semi-trailer towing vehicles under real driving conditions using PEMS

On-road driving emissions of six liquefied natural gas(LNG) and diesel semi-trailer towing vehicles(STTVs) which met China Emission Standard IV and V were tested using Portable Emission Measurement System(PEMS) in northern China.Emission characteristics of these vehicles under real driving conditions were analyzed and proved that on-road emissions of heavy-duty vehicles(HDVs) were underestimated in the past.There were large differences among LNG and diesel vehicles, which also existed between China V vehicles and China IV vehicles.Emission factors showed the highest level under real driving conditions, which probably be caused by frequent acceleration, deceleration, and start-stop.NOx emission factors ranged from 2.855 to 20.939 g/km based on distance-traveled and 6.719–90.557 g/kg based on fuel consumption during whole tests, which were much higher than previous researches on chassis dynamometer.It was inferred from tests that the fuel consumption rate of the test vehicles had a strong correlation with NOx emission, and the exhaust temperature also affected the efficiency of Selected Catalytic Reduction(SCR) aftertreatment system, thus changing the NOx emission greatly.THC emission factors of LNG vehicles were 2.012–10.636 g/km, which were much higher than that of diesel vehicles(0.029–0.185 g/km).Unburned CH4 may be an important reason for this phenomenon.Further on-road emission tests, especially CH4 emission test should be carried out in subsequent research.In addition, the Particulate Number(PN) emission factors of diesel vehicles were at a very high level during whole tests, and Diesel Particulate Filter(DPF)should be installed to reduce PN emission.

Analytical calculation method and simulation of deformation and stress of Z-type guide arm for interconnected air suspensions

To design and check the strength of the Z-type guide arm of interconnected air suspensions for semi-trailers rapidly and effectively,this paper proposes the analytical calculation methods of its deformation and stress.First,based on the guide arm structure,it is marked as two parts by its mountpoint on the axle as the boundary.The part containing the eye was marked as Arm-1.The other part was marked as Arm-2.Then the analytical formulas of their stiffness and stress were derived,respectively.With a case study,the deformation and the stress were computed and simulated.The results show that the values computed are close to those simulated.The relative deviations are not more than 5.0%.The results show that the analytical formulas are acceptable.Moreover,it can be seen that for the superimposed Arm-1,when the other structural parameters are fixed,the position of the maximum stress is affected by the thickness ratio of the end thickness to the root thickness for each piece.Finally,a stiffness test was performed on the Z-type guide arm.The results show that the computed stiffness values are closed to those tested and the relative deviations are not more than 3.5%.This further verified the validity of the established model and methods.