关键词: 双挂汽车列车, 横向稳定性控制, 模糊推理, PID 控制, 差动制动

Abstract: Compared with the traditional semi-trailer, the double trailer train has higher transport efficiency and lower transport cost, and is more suitable for the future development trend of green, convenient and efficient road transport. However, the long total length of the vehicle body and the number of its components will inevitably affect the stability of the vehicle. In order to study and verify the improvement of the control strategy on the lateral stability of the double-trailer train, a dynamic model of the double trailer train (Type B double trailer) was built based on Trucksim simulation platform, which is a simplified reference model of Simulink double trailer train established according to the laws of mechanics. The yaw rate deviation and lateral load transfer rate deviation of each unit in the dynamic and reference model are taken as inputs respectively, based on fuzzy inference and PID (proportional-integral-derivative control) control theory. The active control strategy of vehicle yaw and roll stability is constructed, and the intervention time of control strategy is adjusted according to the result of vehicle state identification. The simulation results show that the active control strategy can significantly reduce the fluctuation amplitude of lateral stability evaluation parameters, and the peak value of the sideslip angle of each unit can be reduced by 5.7%∼53%, the yaw rate decreases by 4.9%∼23.8%, the roll angle decreases by 0.5%∼24.9%, and the lateral declination angle decreases by 0.3%∼32.9%. The results show that the control strategy designed in this paper can improve the lateral stability of the double trailer train, and the research results can provide a reference for the future study of the lateral vehicle stability of the double trailer train.

Key words: double trailer train, lateral stability control, fuzzy inference, PID control, di?erential braking