基于铰接角度稳定域与可行域的半挂汽车列车直线倒车控制研究

针对半挂汽车列车在倒车行驶时的不稳定开环工况造成的跟随期望直线倒车困难问题，提出基于铰接角度稳定域与可行域的半挂汽车列车直线倒车控制策略；在倒车过程中分析铰接角度、半挂车位姿角和轴线偏移距等参数的相互耦合关系以及上述参数对半挂汽车列车倒车稳定性与可行性的影响；确定半挂汽车列车随期望直线倒车时的铰接角度稳定性区域与可行性区域，并基于半挂汽车列车铰接角度稳定性区域与可行性区域制定半挂汽车列车直线倒车控制策略；采用变论域模糊控制进行直线倒车路径跟踪控制，并基于ADAMS和Matlab/Simulink进行联合仿真以及实车试验。仿真与试验结果表明，所提出的基于铰接角度稳定域与可行域的半挂汽车列车直线倒车控制策略可使半挂汽车列车精准实现对于期望直线倒车的路径跟踪，有效地避免在倒车过程中出现折叠、碰撞等问题、从而大大降低直线倒车操作难度。

Research on Linear Reversing Control of Semi-trailer Based on Hitch Angle Stable Domain and Feasible Domain

A linear reversing control strategy based on the stable and feasible domains of a hitch angle is proposed to address the linear reversing problem with expectation caused by unstable open-loop conditions of semi-trailer trains during reverse driving. In the reversing process, the coupling relationship among the location parameters, such as hitch angle, semi-trailer posture angle, and axis offset, as well as the influence of these parameters on the reversing stability and feasibility of semi-trailer trains, are analysed. The stable and feasible domains of the hitch angle when the semi-trailer is reversed in an expected straight line is determined, and the semi-trailer linear reversing control strategy is established on the basis of the hitch angle stable and feasible domains. The tracking control of the linear reversing path is adopted by the variable universe fuzzy control, and the co-simulation based on ADAMS and Matlab/Simulink and the subsequent actual vehicle experiment are conducted. Simulation and experimental results show that the proposed linear reversing control strategy of the semi-trailer based on the hitch angle stable and feasible domains can accurately realize the linear reverse-path tracking of the semi-trailer train, effectively avoiding the problems of jack-knife and trailer swing during the reversing process. Thus, the difficulty of the straight reverse operation is substantially reduced.