Active steering control strategy for articulated vehicles

Kyong-il KIM; Hsin GUAN; Bo WANG; Rui GUO; Fan LIANG

doi:10.1631/FITEE.1500211

Your Location：

Home >

Browse articles >

Active steering control strategy for articulated vehicles

Regular Papers | Updated：2022-05-19

- Active steering control strategy for articulated vehicles
- 铰接车辆的主动转向控制策略研究
- Frontiers of Information Technology & Electronic Engineering Vol. 17, Issue 6, Pages: 576-586(2016)
- Affiliations：
  
  1State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  2School of Mechanical Science and Technology, Kim Chaek University of Technology, Pyongyang 999093, DPR of Korea
- Author bio：
  
  E-mail:kimkyongil@163.com
  E-mail:guor@jlu.edu.cn
- Funds：
- DOI：10.1631/FITEE.1500211
  CLC： TP273;U461.6
- Received：06 July 2015，
  
  Accepted：16 February 2016，
  
  Published：2016-06
- Accepted：
Scan QR Code
Kyong-il KIM, Hsin GUAN, Bo WANG, et al. Active steering control strategy for articulated vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(6): 576-586.
DOI：

Kyong-il KIM, Hsin GUAN, Bo WANG, et al. Active steering control strategy for articulated vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(6): 576-586. DOI： 10.1631/FITEE.1500211.

摘要

目的

在车辆稳定性控制领域中，目前对两轴车的研究较为成熟，对多轴的铰接车辆模拟仍有待深入研究。现有的文献对铰接车辆的稳定性控制策略，主要采用挂车跟踪拖车轨迹的控制策略，不适用于直角弯工况。为解决这一问题，本文设计了适用于铰接车辆的跟踪理想横摆角速度和质心侧偏角的控制策略，适用于铰接车辆任意工况的稳定性控制。

创新点

首次将跟踪理想横摆角速度和质心侧偏角的控制策略用于铰接车辆。

方法

建立了3自由度铰接车辆简化模型，采用基于模拟退火的粒子群优化方法辨识简化模型的关键参数并形成三维场图，能根据铰接车辆的实时工况查表得出当前铰接车辆的关键参数。采用LQR方法设计了跟踪理想横摆角速度和质心侧偏角的控制策略。

结论

本文的控制策略能很好地减小铰接车辆的质心侧偏角（图22、23）；能很好地跟踪理想的横摆角速度（图18、19）；减小侧向加速度（图24、25）改善高速铰接车辆的稳定性并适用于直角弯工况（图14）。

Abstract

To improve maneuverability and stability of articulated vehicles

we design an active steering controller

including tractor and trailer controllers

based on linear quadratic regulator (LQR) theory. First

a three-degree-of-freedom (3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization (SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus

the key parameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpolation. Simulation results show that vehicle parameter outputs of the simplified model and TruckSim agree well

thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity (CG) at the same time. Finally

simulation tests at both low speed and high speed are conducted based on the TruckSim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.

关键词

Keywords

references

CZ Cheng . . Enhancing Safety of Actively-Steered Articulated Vehicles , , 2009 . . : PhD Thesis : University of Cam-bridge , , Cambridge, UK . .

CZ Cheng , , , D Cebon . . Improving roll stability of articulated heavy vehicles using active semi-trailer steering . . Int. J. Veh. Mech. Mob. , , 2008 . . 46 ( ( S1 ): ): 373 - - 388 . . DOI: 10.1080/00423110801958576 http://doi.org/10.1080/00423110801958576 . .

M El-Gindy , , , N Mrad , , , X Tong . . Sensitivity of rearward amplification control of a truck/full trailer to tyre cornering stiffness variations . . Proc. Inst. Mech. Eng. Part D , , 2001 . . 215 ( ( 5 ): ): 579 - - 588 . . DOI: 10.1243/0954407011528176 http://doi.org/10.1243/0954407011528176 . .

Y Gao , , , SL Xie . . Particle swarm optimization algorithms based on simulated annealing . . Comput. Eng. Appl. , , 2004 . . 1 47 - - 50 . . . .

C Gong , , , ZL Wang . . MATLAB Optimization Calcu-lation (3rd Ed.). , , 2014 . . : Beijing : China Publishing House of Electronics Industry , , 270 - - 312 . . . .

A Hac , , , D Fulk , , , H Chen . . Stability and control con-siderations of vehicle-trailer combination . . SAE Int. J. Passeng. Cars Mech. Syst. , , 2008 . . 1 ( ( 1 ): ): 925 - - 937 . . DOI: 10.4271/2008-01-1228 http://doi.org/10.4271/2008-01-1228 . .

N Hata , , , S Hasegawa , , , S Takahashi , , , 等 . . A Control Method for 4WS Truck to Suppress Excursion of a Body Rear Overhang . . SAE Technical Paper 892521 , , 1989 . . 754 - - 760 . . DOI: 10.4271/892521 http://doi.org/10.4271/892521 . .

Y He , , , M Islam , , , T Webster . . An integrated design method for articulated heavy vehicles with active trailer steering systems . . SAE Int. J. Passeng. Cars Mech. Syst. , , 2010 . . 3 ( ( 1 ): ): 158 - - 174 . . DOI: 10.4271/2010-01-0092 http://doi.org/10.4271/2010-01-0092 . .

M Islam , , , Y He . . An Optimal Preview Controller for Active Trailer Steering Systems of Articulated Heavy Vehicles . . SAE Technical Paper 2011-01-0983 , , 2011 . . DOI: 10.4271/2011-01-0983 http://doi.org/10.4271/2011-01-0983 . .

B Jujnovich , , , D Cebon . . Comparative performance of semi-trailer steering systems . . Proc. 7th Int. Symp. on Heavy Vehicle Weights & Dimensions , , 2002 . . 1 - - 20 . . . .

B Jujnovich , , , D Cebon . . Path-following steering control for articulated vehicles . . J. Dyn. Syst. Meas. Contr. , , 2013 . . 135 ( ( 3 ): ): 031006 DOI: 10.1115/1.4023396 http://doi.org/10.1115/1.4023396 . .

R Kamnik , , , F Boettiger , , , K Hunt . . Roll dynamics and lateral load transfer estimation in articulated heavy freight vehicles . . Proc. Inst. Mech. Eng. Part D , , 2003 . . 217 ( ( 11 ): ): 985 - - 997 . . DOI: 10.1243/095440703770383884 http://doi.org/10.1243/095440703770383884 . .

LJJ Kusters . . Increasing rollover safety of commercial vehicles by application of electronic systems . . In: Pau-welussen JP, Pacejka, H.B. (Eds.), Smart Vehicles. Swets & Zeitlinger, the Netherlands , , 1995 . . 362 - - 378 . . . .

P LeBlanc , , , M El-Gindy , , , J Woodrooffe . . Self-Steering Axles: Theory and Practice . . SAE Technical Paper 891633 , , 1989 . . 156 - - 170 . . DOI: 10.4271/891633 http://doi.org/10.4271/891633 . .

I Notsuet , , , S Takahashi , , , Y Watanabe , , , 等 . . Investigation into Turning Behaviour of Semi-trailer with Additional Trailer-Wheel Steering - A Control Method for Trailer-Wheel Steering to Minimize Trailer Rear - Overhang Swing in Short Turns . . 1991 . . SAE Technical Paper 912570 . . 1007 - - 1013 . . . .

L Palkovics , , , M El-Gindy . . Examination of different control strategies of heavy-vehicle performance . . J. Dyn. Syst. Meas. Contr. , , 1996 . . 118 ( ( 3 ): ): 489 - - 498 . . DOI: 10.1115/1.2801172 http://doi.org/10.1115/1.2801172 . .

K Rangavajhula , , , HSJ Tsao . . Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following . . Int. J. Heavy Veh. Syst. , , 2007 . . 14 ( ( 3 ): ): 271 - - 293 . . DOI: 10.1504/IJHVS.2007.015604 http://doi.org/10.1504/IJHVS.2007.015604 . .

K Rangavajhula , , , HSJ Tsao . . Command steering of trailers and command-steering-based optimal control of an articulated system for tractor-track following . . Proc.Inst. Mech. Eng. Part D , , 2008 . . 222 ( ( 6 ): ): 935 - - 954 . . DOI: 10.1243/09544070JAUTO501 http://doi.org/10.1243/09544070JAUTO501 . .

R Roebuck , , , A Odhams , , , K Tagesson , , , 等 . . Imple-mentation of trailer steering control on a multi-unit vehicle at high speeds . . J. Dyn. Syst. Meas. Contr. , , 2013 . . 136 ( ( 2 ): ): 021016 DOI: 10.1115/1.4025815 http://doi.org/10.1115/1.4025815 . .

and Bus Powertrain Steering Committee Truck . . A Test for Evaluating the Rearward Amplification of Multi-articulated Vehicles . . SAE Standard J2179 , , 1993 . . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰