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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >A numerical control algorithm for a B-double truck-trailer with steerable trailer wheels and active hitch angles
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A numerical control algorithm for a B-double truck-trailer with steerable trailer wheels and active hitch angles

机译：带有可转向拖车轮和主动挂钩角度的B型双卡车拖车的数控算法

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摘要

This paper presents a new algorithm for the control of a B-double truck-trailer with steerable trailer wheels and active hitch angles, designed to minimize both off-tracking and scuffing. Each trailer has six autonomously steered double wheels, although each double wheel is modelled by a centrally placed single wheel. Each hitch point, joining truck to first trailer and first trailer to second trailer, as well as a nominated point central to the axles of the second trailer, traverses the same path which is determined by an operator controlling the path curvature and truck speed. The algorithm approximates the ideal solution in which all wheels on each trailer have the same centre of curvature. The actively controlled hitch angles, satisfying the path-following constraints, provide a further level of cooperative redundancy of steering systems. Simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles, and hitch angles as well as the accuracy of the algorithm. Further simulation is carried out to show the improvement in off-tracking of the new control system over current B-double fixed-wheel systems.
机译：本文提出了一种新的算法，用于控制带有可转向拖车轮和主动挂钩角度的B-double卡车拖车，其设计目的是最大程度地减少脱轨和刮擦现象。每个拖车都有六个自动转向的双轮，尽管每个双轮都由一个放置在中央的单轮建模。将卡车连接到第一挂车，将第一挂车连接到第二挂车的每个挂接点，以及第二挂车的车轴中心的指定点，都通过相同的路径，该路径由操作员控制路径曲率和卡车速度来确定。该算法近似于理想的解决方案，其中每个拖车上的所有车轮都具有相同的曲率中心。满足路径跟随约束的主动控制挂钩角度可进一步提高转向系统的协作冗余度。仿真表明，曲率和前悬挂速度的改变对悬挂路径，车轮角度和悬挂角度以及算法精度的影响。进行了进一步的仿真，以显示新控制系统在偏离当前B-双固定轮系统方面的改进。

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