The invention provides an articulated vehicle yaw stability control method and system based on trailer active steering, and the method comprises the steps: solving a feed-forward control rotation angle of a trailer through a feed-forward controller according to a motion differential equation of a tractor and the trailer and front wheel rotation angle input and steady-state conditions, solving a steady-state motion state through an articulated vehicle system state equation, the feedback controller solves the feedback control turning angle of the trailer through the linear quadratic regulator according to the error between the current vehicle state and the steady-state motion state, the controller outputs the trailer feed-forward control turning angle and the trailer turning angle obtained after the feedback control turning angle is added, and the trailer steering executing mechanism achieves the trailer turning angle output by the controller. The transverse stability of the articulated vehicle can be improved, the shimmy phenomenon of a trailer when the articulated vehicle runs under the medium and high speed working conditions is effectively restrained, a vehicle system has enough stability margin, meanwhile, the articulated vehicle is assisted to achieve steering to a certain extent, and the handling stability and running safety of the articulated vehicle are improved.

    本发明提供基于挂车主动转向的铰接式车辆横摆稳定控制方法及系统,包括前馈控制器根据牵引车和挂车的运动微分方程、前轮转角输入与稳态条件求解挂车的前馈控制转角,通过铰接式车辆系统状态方程求解稳态运动状态,反馈控制器根据当前车辆状态与稳态运动状态的误差,通过线性二次型调节器求解出挂车的反馈控制转角,控制器输出挂车前馈控制转角和反馈控制转角加和后的挂车转角,挂车转向执行机构实现控制器输出的挂车转角。本发明能够提升铰接式车辆的横向稳定性,有效抑制铰接式车辆在中高速工况行驶时挂车的摆振现象,使车辆系统具有足够的稳定裕度,同时一定程度上辅助铰接式车辆实现转向,提升铰接式车辆的操纵稳定性与行驶安全性。


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    Titel :

    Hinged vehicle yaw stability control method and system based on trailer active steering


    Weitere Titelangaben:

    基于挂车主动转向的铰接式车辆横摆稳定控制方法及系统


    Beteiligte:
    ZHANG NING (Autor:in) / LU FEI (Autor:in) / ZHANG QIANCHEN (Autor:in) / WANG JINXIANG (Autor:in) / YIN GUODONG (Autor:in) / XU LIWEI (Autor:in) / WU JIAN (Autor:in) / OUYANG TIANCHENG (Autor:in)

    Erscheinungsdatum :

    26.07.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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