Linear reversing control of semi-trailer trains based on hitch angle stable and feasible domain

• DOI: 10.1016/j.conengprac.2020.104625
• Publication Date: 2020-09-08T15:53:46Z
• Authors: Guang Xia; Mingzhuo Zhao; Xiwen Tang; Shaojie Wang; Linfeng Zhao
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

Abstract 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 amongst the location parameters, such as hitch angle, semi-trailer posture angle and axis offset, including the influence of these parameters on the reversing stability and feasibility of semi-trailer trains, is analysed. The stable and feasible domains of the hitch angle when the semi-trailer is reversed in an expected straight line are determined. Based on this, the semi-trailer linear reversing control strategy is established. 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 realise 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.