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A Heavy Tractor Semi-Trailer Stability Control Strategy Based on Electronic Pneumatic Braking System HIL Test
ISSN: 2380-2162, e-ISSN: 2380-2170
Published October 15, 2019 by SAE International in United States
Citation: Zheng, H., Miao, Y., and Li, B., "A Heavy Tractor Semi-Trailer Stability Control Strategy Based on Electronic Pneumatic Braking System HIL Test," SAE Int. J. Veh. Dyn., Stab., and NVH 3(3):237-249, 2019, https://doi.org/10.4271/10-03-03-0016.
Aiming to improve the handling performance of heavy tractor semi-trailer during turning or changing lanes at high speed, a hierarchical structure controller is proposed and a hardware-in-the-loop (HIL) test bench of the electronic pneumatic braking system is developed to validate the proposed controller. In the upper controller, a Kalman filter observer based on the heavy tractor semi-trailer dynamic model is used to estimate the yaw rates and sideslip angles of the tractor and trailer. Simultaneously, a sliding mode direct yaw moment controller is developed, which takes the estimated yaw rates and sideslip angles and the reference values calculated by the three-degrees-of-freedom dynamic model of the heavy tractor semi-trailer as the control inputs. In the lower controller, the additional yaw moments of tractor and trailer are transformed into corresponding wheel braking forces according to the current steering characteristics. The HIL test bench of the electronic pneumatic braking system is built to verify the effectiveness of the strategy. Double lane-change maneuver, sinusoidal maneuver, and J-turn maneuver are selected as handling and stability test conditions. The LabView real-time (RT) system combined with the TruckSim vehicle model and ControlDesk real-time interface (RTI) system are adopted in the HIL test. The results obtained from the HIL tests show that the control method can effectively improve the lateral and handling stability of the heavy tractor semi-trailer.