CN205417589U - Direct yaw moment control system of semi -mounted road train - Google Patents

Abstract

The utility model provides a direct yaw moment control system for semi-trailer trains. The system includes a tractor side slip angle measurement device, a car body yaw angular velocity measurement device, a yaw moment function module, a brake wheel judgment and a brake Torque distribution controller and wheel brakes. The side slip angle measurement device of the tractor and the vehicle body yaw angular velocity measurement device are connected with the yaw moment function module, and the yaw moment function module is connected with the brake wheel judgment and brake torque distribution controller, the brake wheel judgment and brake torque The distribution controller is connected to the wheel brakes. The side slip angle measuring device of the tractor includes a longitudinal speed sensor for detecting the longitudinal speed of the tractor, a lateral speed sensor for detecting the lateral speed of the tractor; the vehicle body yaw angular speed measuring device includes a steering wheel angle sensor for detecting the steering wheel A tractor yaw rate sensor for the sway rate and a semi-trailer yaw rate sensor for detecting the yaw rate of the semi-trailer. The utility model has reasonable structure and simple operation, and can ensure the running safety of the semi-trailer train when turning at high speed and large corner.

Description

A direct yaw moment control system for semi-trailer trains

technical field

The utility model relates to the lateral stability of a semi-trailer train and belongs to the technical field of active braking control of a semi-trailer train.

Background technique

When the semi-trailer train is running, the tractor and the semi-trailer not only form a moving whole, but also have a mutual motion relationship through the traction pin on the saddle. As shown in Figure 1, when the semi-trailer train is turning, the driver exerts The turning angle on the steering wheel is converted into the front wheel angle of the tractor through the steering mechanism, and the tractor realizes turning. At this time, a relative angle is formed between the tractor and the semi-trailer, and the traction pin on the saddle drives the semi-trailer. The trailer realizes turning and driving.

Compared with single-carrying vehicles, semi-trailer trains have weaker lateral rigidity and are more prone to lateral instability. Moreover, semi-trailer trains have a large loading capacity, large volume, high speed, and large inertia. Therefore, once an instability occurs , It is easy to affect other vehicles running on the road, causing serious serial vicious traffic accidents, which has a great impact on people's lives and property safety, and seriously affects transportation efficiency.

For the semi-trailer train with lateral instability, it usually has little effect to ensure the stability of the semi-trailer train only by the driver through the adjustment of the steering wheel to the front wheel angle of the semi-trailer train. Therefore, an effective auxiliary control system is needed to improve the stability of the semi-trailer train. Steering stability ensures driving safety when the car turns at high speed and large corners.

Contents of the invention

The utility model aims at the problems existing in the lateral stability of the existing semi-trailer train, and provides a direct yaw moment control system. Driving safety of semi-trailer trains when turning at high speed and large corners.

The utility model adopts the following technical solutions:

The semi-trailer train yaw moment control system includes a tractor side slip angle measurement device, a car body yaw angular velocity measurement device, a yaw moment function module, a braking wheel judging and braking torque distribution controller and a wheel brake. Among them, the side slip angle measuring device of the tractor and the vehicle body yaw angular velocity measuring device are electrically connected to the yaw moment function module, and the yaw moment function module is electrically connected to the brake wheel judging and braking torque distribution controller, and the brake wheel judging and the braking torque distribution controller are electrically connected to the wheel brakes.

The side slip angle measuring device of the tractor includes a longitudinal speed sensor for detecting the longitudinal speed of the tractor in real time, a lateral speed sensor for detecting the lateral speed of the tractor in real time, and a side slip angle controller of the tractor; the vehicle body yaw rate The measuring device includes a steering wheel angle sensor for detecting the steering wheel angle in real time, a tractor yaw rate sensor for detecting the yaw rate of the tractor in real time, and a semi-trailer yaw rate sensor for detecting the yaw rate of the semi-trailer in real time.

The yaw moment function module receives signals from the side slip angle measuring device of the tractor and the yaw rate measuring device of the vehicle body, and correspondingly calculates the additional yaw moment required by the tractor and the semi-trailer according to a predetermined control program.

The braking wheel determination and braking torque distribution controller selects the braking wheels and controls the wheel brakes.

The utility model uses the active braking control technology to generate the required additional yaw moment, improves the running stability of the semi-trailer train at high speed and large steering, can effectively reduce the probability of instability, and avoid the occurrence of serious traffic accidents.

Description of drawings

Figure 1 is a motion coupling diagram of the semi-trailer train tractor and the semi-trailer.

Fig. 2 is a schematic diagram of the utility model semi-trailer train yaw moment control system.

Among them: 1. Steering wheel angle, 2. Tractor, 3. Semi-trailer, 4. Relative angle between tractor and semi-trailer, 5. Motion output of tractor and semi-trailer, 6. Steering wheel angle sensor, 7. Tractor yaw Angular velocity sensor, 8. Semi-trailer yaw angular velocity sensor, 9. Tractor side slip angle controller, 10. Longitudinal velocity sensor, 11. Lateral velocity sensor, 12. Yaw moment control module, 13. Brake wheel determination and Braking torque distribution controller, 14. Wheel brakes, 15. Vehicle body yaw rate measuring device, 16. Tractor side slip angle measuring device.

detailed description

As shown in Figure 2, the utility model includes a tractor side slip angle measuring device 16, a vehicle body yaw angular velocity measuring device 15, a yaw moment function module 12, a brake wheel judgment and brake torque distribution controller 13 and a wheel brake Motion controller 14. The tractor slip angle measurement device 16 includes a longitudinal speed sensor 10 that detects the longitudinal speed of the tractor in real time, a lateral speed sensor 11 that detects the lateral speed of the tractor in real time, and a tractor slip angle controller 9. The side slip angle controller 9 receives signals from the longitudinal speed sensor 10 and the lateral speed sensor 11, and calculates the side slip angle of the tractor in real time; the vehicle body yaw rate measurement device includes a steering wheel angle sensor 6 that detects the steering wheel angle in real time , the tractor yaw rate sensor 7 for detecting the yaw rate of the tractor in real time and the semi-trailer yaw rate sensor 8 for detecting the yaw rate of the semi-trailer in real time. Tractor side slip angle measurement device 16, vehicle body yaw rate measurement device 15 are electrically connected to yaw moment functional module 12, and the measured steering wheel angle, longitudinal speed, tractor side slip angle, tractor yaw rate, half The yaw angular velocity of the trailer is input to the yaw moment function module 12, and the yaw moment function module 12 can calculate the required additional yaw moment. The braking wheel determination and braking torque distribution controller 13 is electrically connected to the yaw moment functional module 12, receives the output signal of the yaw moment functional module 12, determines that the corresponding wheels of the semi-trailer train are braked, and distributes the brakes accordingly. braking torque of the moving wheels. The wheel brake 14 is electrically connected with the brake wheel determination and braking torque distribution controller 13, accepts instructions from the braking wheel determination and braking torque distribution controller 13, and controls the corresponding wheel braking.

Claims (3)

1. A direct yaw moment control system for a semi-trailer train, the system includes a tractor side slip angle measurement device, a vehicle body yaw angular velocity measurement device, a yaw moment functional module, brake wheel judgment and brake torque distribution control brakes and wheel brakes, which are characterized in that: tractor side slip angle measurement device, car body yaw rate measurement device are connected with the yaw moment function module, and the yaw moment function module is connected with the brake wheel judgment and brake torque distribution controller , the brake wheel judgment and brake torque distribution controller is connected with the wheel brake. 2. According to the direct yaw moment control system of the semi-trailer train according to claim 1, it is characterized in that: the tractor slip angle measuring device includes a longitudinal speed sensor that detects the longitudinal speed of the tractor in real time, a real-time A lateral speed sensor for detecting the lateral speed of the tractor, and a tractor side slip angle controller for calculating the side slip angle of the tractor according to the detected longitudinal speed of the tractor and the lateral speed of the tractor. 3. According to the direct yaw moment control system of the semi-trailer train according to claim 1, it is characterized in that: the vehicle body yaw angular velocity measuring device includes a steering wheel angle sensor that detects the steering wheel angle in real time, and a real-time measurement of the steering wheel angle of the tractor. The tractor yaw rate sensor for detecting the yaw rate, and the semi-trailer yaw rate sensor for real-time detection of the yaw rate of the semi-trailer.