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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2017  >  17(6): 135-149
NIE Zhi-gen, WANG Wan-qiong, WANG Chao, ZONG Zhang-fu. Integrated control strategy of articulated heavy vehicle based on timely mode switching under medium/high speed conditions[J]. Journal of Traffic and Transportation Engineering, 2017, 17(6): 135-149.
Citation: NIE Zhi-gen, WANG Wan-qiong, WANG Chao, ZONG Zhang-fu. Integrated control strategy of articulated heavy vehicle based on timely mode switching under medium/high speed conditions[J]. Journal of Traffic and Transportation Engineering, 2017, 17(6): 135-149.
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Integrated control strategy of articulated heavy vehicle based on timely mode switching under medium/high speed conditions

  • 1.

    School of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, Yunnan, China

  • 2.

    State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, Jilin, China

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  • Author Bio:

    NIE Zhi-gen(1983-), male, lecturer, PhD, niezhigen@126.com

  • Received Date: 2017-07-10
  • Publish Date: 2017-12-25
    Abstract
  • Under the medium/high speed conditions, the simplified model of articulated heavy vehicle with five degrees of freedom was established, and the integrated control strategy based on timely mode switching was proposed based on the active steering control system of trailer and differential braking control system.According to different medium/high speed conditions, the control modes of integrated control strategy were timely switched to achieve the precision control of articulated heavy vehicle.The optimizing functions corresponding to the control modes were designed to optimize the weight coefficients of control modes by the genetic particle swarm optimization algorithm.According to the optimal weight coefficients, the multiple single controlstrategies in integrated control strategy were fused and coordinated to achieve the optimal control of articulated heavy vehicle under various modes.The simulation results of multiple control strategies of articulated heavy vehicles were analyzed, and the hardware-in-the-loop test bench was constructed to verify the control effect of integrated control strategy.Research result indicates that the control effect of integrated control strategy is similar to the effect of active steering control strategy of trailer and better than the effect of differential braking control strategy under the normal working condition, and better than the effects of active steering control strategy of trailer and differential braking control strategy under the limit working condition.The maximum slip angle of tractor, the maximum yaw velocity of trailer and the maximum slip angle of trailer are improved by 27.46%, 53.19% and 91.60%, respectively, and the maximum hitch angle is improved by 29.07%, so the integrated control strategy can improve the yaw and jackknife stability of articulated heavy vehicle under the medium/high speed normal conditions.The maximum path deviation of trailer rear is improved by 95.48%, so the integrated control strategy can enormously promote the path following ability of articulated heavy vehicle under the medium/high speed normal conditions.The maximum roll angle of tractor, the maximum roll angle of trailer and the maximum lateral acceleration of trailer are improved by 11.15%, 10.34%and 4.08%, respectively, so the integrated control strategy can improve the roll stability of articulated heavy vehicle under the medium/high speed normal conditions.The integrated control strategy can avoid vehicle rollover under the limit working condition and control the roll angles of tractor and trailer in the stable range of about 25°.

     

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