Research on coupled bifurcation and stability of tractor semi-trailer under combined braking and steering conditions

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-07-25 DOI:10.1177/09544070241265395

Jinhai Zhao, Xiuheng Wu, Zhenghe Song, Liang Sun, Xiangyu Wang

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引用次数: 0

Abstract

Existing stability analyzes for the tractor semi-trailer cannot fully explain the instability phenomenon during combined steering and braking conditions, under which the tire lateral forces are affected by the longitudinal tire forces due to adhesive force ellipse. In response to the problem, this article obtains the coupled bifurcation and the stability area of the tractor semi-trailer under different deceleration and steering angles. First, the 8 degrees of freedom (8 DOF) tractor semi-trailer nonlinear dynamical model considering the nonlinear tire characteristics is built. The constrained continuation method is used, and the inertial force caused by braking is equivalent to two external forces and added to the tractor semi-trailer model. Thus, the tractor semi-trailer system can be seen as being in an equivalent equilibrium state. Next, the equilibrium points under varying steering angles and different decelerations are solved by a hybrid method combining the Runge-Kutta method with the gradient descent method. The bifurcation diagrams denote the changes in the equilibrium brought by different conditions and reveal the influence of different decelerations on the stable steering angle range. Further, the stable regions under different conditions are illustrated to give an understanding of the effect of the braking operations on the stability of the tractor semi-trailer. Compared with the existing literature, it can be proved that in addition to the fixed parameters such as road adhesion coefficient, the deceleration under braking conditions will also have an impact on the stability regions of the tractor semi-trailer. The stable boundary of the tractor semi-trailer under combined braking and steering conditions can be obtained by off-line calculation, and the results can serve on the theoretical considerations on the tractor semi-trailer braking stability control.

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牵引式半挂车在联合制动和转向条件下的耦合分岔和稳定性研究

现有的牵引半挂车稳定性分析无法完全解释在转向和制动联合工况下，由于粘着力椭圆的存在，轮胎侧向力受到轮胎纵向力的影响而产生的不稳定现象。针对这一问题，本文得到了牵引半挂车在不同减速角和转向角下的耦合分岔和稳定区域。首先，建立了考虑轮胎非线性特性的 8 自由度（8 DOF）牵引半挂车非线性动力学模型。采用约束延续法，将制动引起的惯性力等效为两个外力，并将其添加到牵引半挂车模型中。因此，牵引车半挂车系统可视为处于等效平衡状态。接下来，采用 Runge-Kutta 法和梯度下降法相结合的混合方法求解不同转向角和不同减速度下的平衡点。分岔图表示了不同条件下平衡状态的变化，并揭示了不同减速率对稳定转向角范围的影响。此外，还说明了不同条件下的稳定区域，以了解制动操作对牵引半挂车稳定性的影响。与现有文献相比，可以证明除了道路附着系数等固定参数外，制动条件下的减速度也会对牵引半挂车的稳定区域产生影响。通过离线计算可以得到牵引半挂车在制动和转向联合工况下的稳定边界，其结果可以为牵引半挂车制动稳定性控制的理论思考服务。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.