Research on Linear Reversing Control of Semi-trailer Based on Hitch Angle Stable Domain and Feasible Domain

doi:10.3901/JME.2020.24.156

Abstract

Abstract: A linear reversing control strategy based on the stable and feasible domains of a hitch angle is proposed to address the linear reversing problem with expectation caused by unstable open-loop conditions of semi-trailer trains during reverse driving. In the reversing process, the coupling relationship among the location parameters, such as hitch angle, semi-trailer posture angle, and axis offset, as well as the influence of these parameters on the reversing stability and feasibility of semi-trailer trains, are analysed. The stable and feasible domains of the hitch angle when the semi-trailer is reversed in an expected straight line is determined, and the semi-trailer linear reversing control strategy is established on the basis of the hitch angle stable and feasible domains. The tracking control of the linear reversing path is adopted by the variable universe fuzzy control, and the co-simulation based on ADAMS and Matlab/Simulink and the subsequent actual vehicle experiment are conducted. Simulation and experimental results show that the proposed linear reversing control strategy of the semi-trailer based on the hitch angle stable and feasible domains can accurately realize the linear reverse-path tracking of the semi-trailer train, effectively avoiding the problems of jack-knife and trailer swing during the reversing process. Thus, the difficulty of the straight reverse operation is substantially reduced.

Key words: semi-trailer train, hitch angle stable domain, hitch angle feasible domain, posture angle, axis offset, linear reversing

CLC Number:

U270

XIA Guang, ZHAO Mingzhuo, TANG Xiwen, WEI Zhenya, CHEN Wuwei. Research on Linear Reversing Control of Semi-trailer Based on Hitch Angle Stable Domain and Feasible Domain[J]. Journal of Mechanical Engineering, 2020, 56(24): 156-172.

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