Method for controlling driving stability of pure electric multi-section hinged combination vehicle

一种稳定性控制、汽车列车的技术，应用在交通运输领域，能够解决汽车稳定性控制研究较少等问题，达到提升单次运输效率、好控制效果的效果

Active Publication Date: 2019-12-10
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

However, the current research focuses more on trajectory following control, and less research on vehicle stability control. In fact, a large number of studies have shown that under medium and high-speed operating conditions, the stability control of vehicles and trains is more important than trajectory following control. Makes more sense in actual transportation

Method used

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Embodiment Construction

[0055] In order to further explain the technical means and effects adopted by the present invention to achieve the intended invention purpose, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0056] like Figure 1-5 As shown, a pure electric multi-section articulated vehicle train running stability control method, the vehicle train includes a tractor 1 and three trailers (the first trailer 2, the second trailer 3, the third trailer 4), the The above-mentioned tractor and trailer are articulated sequentially through the hinge plate, and the distribution of the six axles of the automobile train is as follows: tractor 1 and third trailer 4 each have one axle at the front and rear, and each of the first trailer 2 and the second trailer 3 has an axle , proceed as follows:

[0057] S1: Establish respective local coordinate systems on the ...

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Abstract

The invention discloses a method for controlling driving stability of a pure electric multi-section hinged combination vehicle. The method mainly comprises the following steps of establishing a mathematical state space model of a combination vehicle needing to be studied in order to obtain a system matrix A and a control input matrix B1; selecting nine variables including a side velocity and a yawvelocity of a hinged vehicle and hinged angles, hinged angle velocities and steering wheel angles of three hinged discs as detection variables; and enabling a sensor to output real-time signals of the nine variables and transmit the real-time signals to an ECU. The ECU predicts the future dynamic change of a tractor through the change of the steering wheel angle and controls the combination vehicle to run stably. According to the control method, the movement form of a rear trailer along with the tractor can be controlled, the driving integrity of the combination vehicle is guaranteed, the phenomena of "folding", "drift" and "snakelike" instability in the driving process of the combination vehicle are effectively avoided, and the safety operation performance of the combination vehicle is improved.

Description

technical field [0001] The invention relates to the field of transportation, in particular to a driving stability control method of a pure electric multi-section articulated vehicle train. Background technique [0002] At present, in the field of public transportation in various cities, buses, bus rapid transit (BRT), subways, light rails, and taxis are mainly provided to facilitate people's travel. Due to the low demand for public transport infrastructure and low investment in the overall system, investment in public transport is currently one of the main means for local governments to ease the pressure on public transport. Although bus companies relieve the pressure of public transportation by increasing the number of bus schedules and trains, due to the limited one-way transportation of buses, they cannot effectively solve the problem of large population flow in the transportation of large cities. Some cities, such as Xiamen and Zhengzhou, vigorously develop the lengthen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02
CPCB60W30/02
Inventor 韩锋钢贾梦泽宋帆彭倩卢光华
Owner XIAMEN UNIV OF TECH
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