基于挂钩力模型的拖挂式房车同步制动控制

doi:10.13700/j.bh.1001-5965.2018.0658

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (7): 1283-1293.doi: 10.13700/j.bh.1001-5965.2018.0658

基于挂钩力模型的拖挂式房车同步制动控制

徐兴^1,2, 糜杰¹, 文楚玥¹, 王峰^1,2, 马世典^1,2, 陶涛³

1. 江苏大学汽车与交通工程学院, 镇江 212013;
2. 江苏大学汽车工程研究院, 镇江 212013;
3. 上汽大通汽车有限公司南京分公司, 南京 211103

收稿日期:2018-11-14 出版日期:2019-07-20 发布日期:2019-07-25
通讯作者: 徐兴 E-mail:xuxing@mail.ujs.edu.cn
作者简介:徐兴男,工学博士,教授,博士生导师。主要研究方向:车辆系统动力学建模、辨识、故障诊断与控制等。
基金资助:
电磁制动系统开发（20170013）

Synchronous braking control of travel trailer based on hook force model

XU Xing^1,2, MI Jie¹, WEN Chuyue¹, WANG Feng^1,2, MA Shidian^1,2, TAO Tao³

1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China;
2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China;
3. SAIC MAXUS Co., Ltd. Nanjing Branch Company, Nanjing 211103, China

Received:2018-11-14 Online:2019-07-20 Published:2019-07-25
Supported by:
Development of Electromagnetic Braking System (20170013)

摘要/Abstract

摘要： 为了提升拖挂式房车制动时牵引车与房车的制动同步性能，结合纵向挂钩力观测器提出一种制动协调控制方法。分析牵引车-房车直线制动运动学特性，考虑电磁制动器机电耦合特性以及球头挂钩柔性连接特性，建立牵引车-房车直线协调制动模型；采用牵引车速度/加速度等低成本传感器所获得的信号数据，基于卡尔曼滤波算法，设计了拖挂式房车纵向挂钩力估计器；引入终端滑模变结构控制算法，建立纵向挂钩力估计值与目标值误差动力学方程，使纵向挂钩力准确跟随目标值，并在此基础上开发了拖挂式房车制动同步控制器。仿真和实车测试结果均表明，所提出的估计方案能准确跟踪拖挂式房车的纵向挂钩力；与其他常规方法相比，所采用的控制方法使得牵引车与房车在制动期间最大挂钩力值小于3 kN，有效保证两者制动的稳定性。

关键词: 拖挂式房车, 状态估计, 终端滑模控制, 同步制动, 电磁制动器

Abstract: For improving the braking synchronization performance of tractor and travel trailer during braking, a braking coordination control method based on longitudinal hook force estimation is proposed. Based on the analysis of the straight-line braking kinematics characteristics of the tractor-travel trailer, the straight-line coordinated braking model of the tractor-travel trailer is established considering the electromechanical coupling characteristics of the electromagnetic brake and the flexible connection characteristics of the ball-type tow hitch. Based on Kalman filtering algorithm, the observer for the longitudinal hook force of travel trailer is designed by using signal data obtained from low-cost sensors such as the speed/acceleration of tractor. By introducing terminal sliding mode variable structure control algorithm, the dynamic equation of the error between the estimated value of longitudinal hook force and the target value is established, so that the longitudinal hook force can follow the target value accurately, and on this basis, the brake synchronization controller for travel trailer is developed. Simulation and real vehicle test results show that the proposed estimation scheme can accurately track the state information of travel trailer, and compared to conventional control methods, the maximum hook force using the proposed control method is less than 3 kN during tractor and travel trailer braking, which effectively ensures the stability of both braking.

Key words: travel trailer, state estimation, terminal sliding mode control, synchronous braking, electromagnetic brake

中图分类号:

U461.3

徐兴, 糜杰, 文楚玥, 王峰, 马世典, 陶涛. 基于挂钩力模型的拖挂式房车同步制动控制[J]. 北京航空航天大学学报, 2019, 45(7): 1283-1293.

XU Xing, MI Jie, WEN Chuyue, WANG Feng, MA Shidian, TAO Tao. Synchronous braking control of travel trailer based on hook force model[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(7): 1283-1293.

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基于挂钩力模型的拖挂式房车同步制动控制

Synchronous braking control of travel trailer based on hook force model

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