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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。
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.
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图 5 挂钩连接装置阻尼刚度简化图
Figure 5. Simplified diagram of damping and stiffness of hook connection device
图 12 间歇制动纵向挂钩力对比
Figure 12. Comparison of intermittent braking longitudinal hook force
图 13 拖挂式房车纵向挂钩力控制策略
Figure 13. Longitudinal hook force control strategy for travel trailer
图 14 PID控制、传统滑模控制及终端滑模控制下纵向挂钩力对比
Figure 14. Comparison of longitudinal hook force under PID control, traditional sliding mode control and terminal sliding mode control
图 15 传统滑模控制与终端滑模控制后拖挂式房车与牵引车减速度对比
Figure 15. Comparison of deceleration between travel trailer and tractor under traditional sliding mode control and terminal sliding mode control
图 16 传统滑模控制与终端滑模控制输出对比
Figure 16. Output comparison between traditional sliding mode control and terminal sliding mode control
图 19 纵向挂钩力模型输出与实验输出对比
Figure 19. Longitudinal hook force output comparison between model and experiment
图 21 PID控制、传统滑模控制及终端滑模控制下纵向挂钩力对比
Figure 21. Comparison of longitudinal hook force under PID control, traditional sliding mode control and terminal sliding mode control
图 22 传统滑模控制与终端滑模控制下拖挂式房车与牵引车减速度对比
Figure 22. Comparison of deceleration between travel trailer and tractor under traditional sliding mode control and terminal sliding mode control
图 23 传统滑模控制与终端滑模控制下拖挂式房车与牵引车减速度误差对比
Figure 23. Comparison of deceleration error between travel trailer and tractor under traditional sliding mode control and terminal sliding mode control
表 1 牵引车-拖挂式房车参数
Table 1. Tractor-travel trailer parameters
参数 数值 牵引车质量m1/kg 2 000 房车质量m2/kg 1 000 牵引车车轮半径R1/mm 350.9 房车车轮半径R2/mm 321.5 牵引车迎风面积A1/m2 3.06 房车迎风面积A2/m2 5.25 牵引车滚动阻力系数f1 0.018 房车滚动阻力系数f2 0.018 牵引车车轮转动惯量J1/(kg·m2) 13.0 房车车轮转动惯量J2/(kg·m2) 11.8 空气阻力系数Cd 0.3 
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表 2 电磁制动器参数
Table 2. Electromagnetic brake parameters
参数 数值 制动鼓半径R0/mm 110 电磁体与制动鼓摩擦系数μ0 0.35 制动效能因数Kt 3.35 制动器杠杆力矩放大系数n 10 电磁吸力与安匝数比例系数K 862.5 线圈匝数N 150
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