Active steering automotive train and steering control method

Abstract

The invention discloses an active steering automotive train which comprises a tractor and a multi-level full trailer and is characterized in that the tractor is connected to a first-level full trailer through a first-level active steering device; the first-level full trailer is connected to a second-level full trailer through a second-level active steering device; an n-1 level full trailer is connected to an n-level full trailer through an n-level active steering device; each level active steering device is connected to a controller corresponding to a level number; and a latter level controller adjusts the action of the active steering device according to real-time running data of a previous trailer, thereby causing the motion track of the latter trailer to follow the motion track of the previous trailer. The invention also discloses a control method based on such a structure. The active steering automotive train and the control method have the beneficial effects that the capability of the full trailer to follow a previous level full trailer is promoted, thereby promoting the driving stability of the full trailer, being capable of towing more full trailers by the tractor and promoting the transportation efficiency of road.

Description

technical field [0001] The invention relates to an automobile train traction device, in particular to an active steering automobile train and a steering control method. Background technique [0002] The development of automobile transportation requires continuous improvement of the carrying capacity of vehicles, but the axle load and outer dimensions of ordinary automobiles are limited by road regulations, and it is impossible to make them too heavy or too large, so there is a car train in the form of a trailer, that is, by A tractor tows one or more trailers, it has more axles and a larger load-bearing area than ordinary trucks, so it has a larger load-bearing capacity. [0003] Among them, the trailer is divided into semi-trailer and full trailer. The semi-trailer has only the rear wheel pair, and its front part is supported by the tractor or the first half of the trailer, while the full trailer has an independent support structure; However, the difference in motion c...

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Problems solved by technology

[0003] Among them, the trailer is divided into semi-trailer and full trailer. The semi-trailer has only the rear wheel pair, and its front part is supported by the tractor or the first half of the trailer, while the full trailer has an independent support structure; However, the difference in motion characteristics is also completely different; as far as the trailer is concerned, the driving action of the current automobile train is completely controlled by the tractor, and the trailer can only passively follow the movement of the tractor. This traction mode has the following defects : When turning, the trailer passively follows the steering of the tractor under the drive of the traction connection device, which leads to a large turning radius of the whole vehicle, and due to the steering offset of the trailer (the center track of the front axle of the tractor and the Trailer rear axle center trajectory deviation distance) is larger than that of semi-trailer, and the followability of full trailer is poor, resulting in poor driving stability of full trailer; They are not too long, and the number of full trailers should generally not exceed 2, and because the driving stability of full trailers is worse than that of semi-trailers, at present, the car trains running on China's high-grade highways basically all use semi-trailers. trailer car train

Although the car trains with trailers have the disadvantage of poor driving stability, the transportation efficiency of trailers is higher, and the fuel consumption of tractors is lower. Without considering other factors, a tractor with the same horsepower can tow a full trailer The quantity is more than the number of semi-trailers. If the driving stability of the full trailer can be further improved and one vehicle can be multi-trailed, the efficiency of transportation can be further improved.

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