| Citation: | XU Xing, MI Jie, WEN Chuyue, et al. Synchronous braking control of travel trailer based on hook force model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(7): 1283-1293. doi: 10.13700/j.bh.1001-5965.2018.0658(in Chinese)
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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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