| Citation: | CHENG H J，YANG J F，LIU Z H，et al. Rule-based integrated stability control of multi-axle special vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：1794-1805 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0569
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In order to improve the active safety and handling stability of multi-axle special vehicles, taking a heavy-duty 5-axle special vehicle as the research object, based on the adaptive coordinated control strategy, an integrated active rear wheel steering (ARS) and differential Hierarchical stability integrated control strategy for differential braking torque distribution (DBTD). The decision-making layer decides the coordinated control instructions of the ARS and DBTD sub-control systems based on the rules. The distribution layer uses the feedforward and feedback control technique to achieve the distribution of the active steering wheel angle, and it uses the synovial film control and specified rules to realize the distribution of the wheel differential braking torque. The control effect of the control strategy is verified by the co-simulation of Trucksin and Simulink, and the motion states of the stability-controlled vehicle and the uncontrolled vehicle under the two extreme conditions of high-attachment high maneuvering steering and low-speed low-attachment steering are compared and analyzed. The findings demonstrate that, under high-speed and high-speed situations, the integrated control system-controlled vehicle’s amplitudes of the yaw rate and side-slip angle are lowered by 46% and 63%, respectively, in comparison to the uncontrolled vehicle. With the working conditions, the yaw rate and the center of mass sideslip amplitude of the vehicle are reduced by 47% and 58% respectively compared with the uncontrolled vehicle. The integrated control system can effectively improve the driving stability of the vehicle during high-speed steering and low-speed low-speed steering. Steering sensitivity and path following performance.
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