半挂汽车列车转弯制动方向稳定性及控制策略研究
|
摘要
近年来，伴随着甩挂运输的大范围推广，半挂汽车列车已经成为了公路运输车辆的主体，但由于汽车列车自身结构的复杂性、车辆安全性评价体系不完善以及牵引车和半挂车匹配不合理等因素，导致由半挂汽车列车引发的交通事故一直居高不下。
车辆制动稳定性直接影响车辆的行驶安全，作为高效运输工具的半挂汽车列车在制动时，由于特殊的车辆结构和行驶环境，比单体车辆更容易发生失稳，尤其是在弯道制动，极易发生甩尾、折叠甚至侧翻等危险工况，从而引发恶性交通事故。因此，开展半挂汽车列车弯道制动的方向稳定性研究，分析车辆转弯制动的失稳机理，提出改善车辆转弯制动方向稳定性的控制策略，对保障公路货物运输的安全、顺畅有重要的现实意义。
本文首先建立了包括制动系、转向系、非线性轮胎、悬架和鞍座组成的半挂汽车列车底盘系统模型，其中利用相关数据完成了轮胎模型的特性仿真。在此基础上根据车辆动力学原理，建立了包含载荷转移在内的半挂汽车列车19自由度动力学模型，并利用Matlab/Simulink完成了仿真模型的构建。
其次依据半挂汽车列车行驶特点，搭建了由VBOX Ⅲ、陀螺仪、汽车操纵力角测量仪、制动踏板计和制动触发条组成的半挂汽车列车行驶稳定性检测系统。制定了半挂汽车列车稳态圆周运动和定半径转弯制动的试验方案，通过实车道路试验，验证了所建模型的可靠性。利用所建仿真模型，针对半挂汽车列车结构参数和使用参数对车辆转弯制动方向稳定性的影响进行了仿真分析，并提出了改善意见。同时，理论分析了半挂汽车列车转弯制动引起失稳的机理原因，并仿真验证了理论分析的正确性。
最后为提高半挂汽车列车转弯制动方向稳定性设计了控制策略，即在控制轮胎最佳滑移率的基础上，以差动制动作为主要执行方式，侧向加速度、牵引车横摆角速度、铰接角和铰接角速度为控制参数的多目标LQR最优控制。控制仿真结果表明，所提出的主动控制策略可显著提高半挂汽车列车弯道制动的横摆稳定性和侧倾稳定性，为车辆稳定性控制系统的进一步研发提供了技术参考。
In recent years,with the widely popularizing of Drop and Pull Transport,Tractor-semitrailer has become the subject vehicle of road transport.But the amount oftraffic accident triggered by Tractor-semitrailer has been high level all the time due tothe complexity of body structure|,the imperfection of safety assessing in combinationof vehicles and unreasonable matching in tractor and trailer.
Braking stability of the vehicle has been constant attentioned as a problem tosolve. It is easier to lose stabililty than single vehicle when Tractor-semitrailer brakein a high speed transporting, with the reason of road environment complexity and highspeed, especially brake in the corners, which is more easier to produce major accidentof sliding, jackknifing and rolloverring.
Therefore, this article focused on the instability mechanism ofTractor-semitrailer steering and braking based on vehicle dynamics theory, whichanalyzed the influence of related parameters on the direction stability whenvehicle braking in a turn, and proposed a control strategy to improve stability ofvehicle steering and braking.
Firstly, it was established a chassis system model included braking system,steering system, nonlinear tire, suspension and saddle, and realized the characteristicssimulation of tire model using related parameters. On this basis, developed a18-DOFTractor-semitrailer nonlinear dynamics model considering load transfer invehicle dynamics to describe the motion characteristics of tractor-semitrailer brakingin a turn, and finished the construction of simulation model using byMatlab/Simulink.
Built a driving stability detection system of Tractor-semitrailer composed ofgyroscope,VBOX Ⅲ, steering force and angle measuring instrument, brakepedal and brake trigger.Formulated a scheme of Tractor-semitrailer driving circle instability and braking in a turn, and carried out the road test of real vehicle, analyzedthe driving characteristics simulation of vehicle from the test result and calibrated thereliability of simulation model. Meanwhile, simulated and analyzed the effect ofstructure parameters and operation parameters on the direction of Tractor-semitrailersteering and braking, and some improving advice were given from which. At the sametime, with the help of vehicle dynamics theory, theoretically analyzedthe reasons caused by losing stability of vehicle steering and braking, validated thecorrectness of theory analysis from the simulation result output by simulation model constructed.
Finally, designed the control strategy according to the mechanism of vehiclelosing stability to improve the stability of Tractor-semitrailer braking in a turn, whichis multi-objective LQR optimal control strategy in lateral acceleration, yaw rate oftractor,jackknifing angle and jackknifing angle rate, Based on the optima control oftire slip rate and the main execution way of differential braking controlling. It wasshown that from the simulation, this active control strategy proposed canimprove the yaw stability and roll stability when Tractor-semitrailer steering andbraking, which can provide technical reference for further development in stabilitycontrol system.
车辆制动稳定性直接影响车辆的行驶安全，作为高效运输工具的半挂汽车列车在制动时，由于特殊的车辆结构和行驶环境，比单体车辆更容易发生失稳，尤其是在弯道制动，极易发生甩尾、折叠甚至侧翻等危险工况，从而引发恶性交通事故。因此，开展半挂汽车列车弯道制动的方向稳定性研究，分析车辆转弯制动的失稳机理，提出改善车辆转弯制动方向稳定性的控制策略，对保障公路货物运输的安全、顺畅有重要的现实意义。
本文首先建立了包括制动系、转向系、非线性轮胎、悬架和鞍座组成的半挂汽车列车底盘系统模型，其中利用相关数据完成了轮胎模型的特性仿真。在此基础上根据车辆动力学原理，建立了包含载荷转移在内的半挂汽车列车19自由度动力学模型，并利用Matlab/Simulink完成了仿真模型的构建。
其次依据半挂汽车列车行驶特点，搭建了由VBOX Ⅲ、陀螺仪、汽车操纵力角测量仪、制动踏板计和制动触发条组成的半挂汽车列车行驶稳定性检测系统。制定了半挂汽车列车稳态圆周运动和定半径转弯制动的试验方案，通过实车道路试验，验证了所建模型的可靠性。利用所建仿真模型，针对半挂汽车列车结构参数和使用参数对车辆转弯制动方向稳定性的影响进行了仿真分析，并提出了改善意见。同时，理论分析了半挂汽车列车转弯制动引起失稳的机理原因，并仿真验证了理论分析的正确性。
最后为提高半挂汽车列车转弯制动方向稳定性设计了控制策略，即在控制轮胎最佳滑移率的基础上，以差动制动作为主要执行方式，侧向加速度、牵引车横摆角速度、铰接角和铰接角速度为控制参数的多目标LQR最优控制。控制仿真结果表明，所提出的主动控制策略可显著提高半挂汽车列车弯道制动的横摆稳定性和侧倾稳定性，为车辆稳定性控制系统的进一步研发提供了技术参考。
In recent years,with the widely popularizing of Drop and Pull Transport,Tractor-semitrailer has become the subject vehicle of road transport.But the amount oftraffic accident triggered by Tractor-semitrailer has been high level all the time due tothe complexity of body structure|,the imperfection of safety assessing in combinationof vehicles and unreasonable matching in tractor and trailer.
Braking stability of the vehicle has been constant attentioned as a problem tosolve. It is easier to lose stabililty than single vehicle when Tractor-semitrailer brakein a high speed transporting, with the reason of road environment complexity and highspeed, especially brake in the corners, which is more easier to produce major accidentof sliding, jackknifing and rolloverring.
Therefore, this article focused on the instability mechanism ofTractor-semitrailer steering and braking based on vehicle dynamics theory, whichanalyzed the influence of related parameters on the direction stability whenvehicle braking in a turn, and proposed a control strategy to improve stability ofvehicle steering and braking.
Firstly, it was established a chassis system model included braking system,steering system, nonlinear tire, suspension and saddle, and realized the characteristicssimulation of tire model using related parameters. On this basis, developed a18-DOFTractor-semitrailer nonlinear dynamics model considering load transfer invehicle dynamics to describe the motion characteristics of tractor-semitrailer brakingin a turn, and finished the construction of simulation model using byMatlab/Simulink.
Built a driving stability detection system of Tractor-semitrailer composed ofgyroscope,VBOX Ⅲ, steering force and angle measuring instrument, brakepedal and brake trigger.Formulated a scheme of Tractor-semitrailer driving circle instability and braking in a turn, and carried out the road test of real vehicle, analyzedthe driving characteristics simulation of vehicle from the test result and calibrated thereliability of simulation model. Meanwhile, simulated and analyzed the effect ofstructure parameters and operation parameters on the direction of Tractor-semitrailersteering and braking, and some improving advice were given from which. At the sametime, with the help of vehicle dynamics theory, theoretically analyzedthe reasons caused by losing stability of vehicle steering and braking, validated thecorrectness of theory analysis from the simulation result output by simulation model constructed.
Finally, designed the control strategy according to the mechanism of vehiclelosing stability to improve the stability of Tractor-semitrailer braking in a turn, whichis multi-objective LQR optimal control strategy in lateral acceleration, yaw rate oftractor,jackknifing angle and jackknifing angle rate, Based on the optima control oftire slip rate and the main execution way of differential braking controlling. It wasshown that from the simulation, this active control strategy proposed canimprove the yaw stability and roll stability when Tractor-semitrailer steering andbraking, which can provide technical reference for further development in stabilitycontrol system.
引文
[1]童燕.中国道路货物运输产业组织与变迁研究[D].上海:复旦大学博士学位论文，2010:12-13.
[2]孙孝文.和谐交通体系构建研究[D].武汉:武汉理工大学博士学位论文，2007:15-18.
[3]李刚.国外运输企业发展第三方物流的启示[J].铁道运输与经济，2003,11:42-43.
[4]董金松．半挂汽车列车弯道制动行驶方向稳定性及协调控制策略研究[D].长春:吉林大学博士学位论文，2010:6-11.
[5]于忠江,白崭.交通建设与企业物流成本控制[J].中国物流与采购2008,1:76-77.
[6]李刚.国外运输企业发展第三方物流的启示[J].铁道运输与经济,2003,11:42-43.
[7]郭正康.现代汽车列车设计与使用[M].北京:北京理工大学出版社,2006:15-21.
[8]阮哲明.城市交通规划经济评价研究[D].上海:同济大学博士学位论文,2008:14-17.
[9]关志伟.半挂汽车列车行驶稳定性动力学仿真研究[D].长春:吉林大学博士学位论文,2008:9-11.
[10]吕安涛,林玮静.半挂汽车列车安全性设计的技术发展趋势[J].专用汽车.2003,2:9-11.
[11]中华人民共和国道路交通事故统计年报[R].公安部交通管理局,2012:15-17.
[12]常胜,许洪国,刘宏飞.半挂汽车列车鞍座参数匹配及行驶特性分析[J].湖南大学学报(自然科学版),2011,38(2):35-40.
[13]周淑文,张思奇,郭立新等.半挂汽车列车高速紧急壁障稳定性控制研究[J].汽车工程,2009,31(2):161-169.
[14]李源孰.合理选择设计参数提高半挂汽车列车的制动稳定性[J].公路交通科技,1998,(2):57-58.
[15]姜丰.用多体力学方法研究高速半挂汽车列车动力学[D].北京:清华大学博士学位论文,1994,11-12.
[16]刘宏飞.半挂汽车列车横摆动力学仿真及控制策略研究[D].长春:吉林大学博士学位论文,2005:10-11.
[17]关志伟.半挂汽车列车行驶稳定性动力学仿真研究[D].长春:吉林大学硕士学位论文,2003:9-11.
[18]吴学雷,姜吉庆.半挂汽车列车侧倾稳定性计算模拟研究[J].兵工学报,1996,3:1-13.
[19]宗长富,麦莉,李雅娟.重型半挂车的动力学建模及侧倾稳定性分析[J].辽宁工业大学学报,2008.2,28(1):52-56.
[20]许洪国,刘宏飞,于增亮.汽车列车横向稳定性研究[J].公路交通科技,2006.2,23(2):141-150.
[21]李开军,方堃等.半挂汽车列车制动中载荷转移对制动性能的影响[J].农业机械学报,2007.11,38(11):17-21.
[22]赵伟.汽车动力学稳定性横摆力矩和主动转向联合控制策略的仿真研究[D].西安:长安大学硕士论文,2008:12-14.
[23]潘公宇.半挂汽车列车制动性能的研究[J].江苏理工大学学报,1997,(4):17-23.
[24]杨秀建.极限工况下汽车转向失稳的非线性动力学特性与主动控制研究[D].济南:山东大学硕士论文,2009:16-18.
[25]黄杰燕基于TTR预警的重型车辆防侧翻控制系统的研究[D].长春:吉林大学硕士学位论文,2008:11-12.
[26]周红妮.车辆稳定性控制方法于策略的比较研究[D].武汉:武汉科技大学硕士学位论文,2006:7-10.
[27]郭正康.随机制动力矩对重型半挂列车制动稳定性的影响研究[J].汽车工程,1988,1:32-45.
[28] L. Huber, O. Dietz. Pendelbewegungen Von Lastkraftwagen-Anh gern und IhreVermeidung [J]. VDI-Zeitschrift,1937,81(16):459-463.
[29] H. Ziegler. Die Querschwingungen von kraftwagen-Anh gern [J]. Ing.-Archiv,1938,9(2):96-108.
[30] Hales F D. The Lateral Stability of Simply Articulated Vehicles[C]. InternationalUnion of Theoretical Mechanics Symposium,1965:17-34.
[31] Kevin Pavlov. Stability control of combination vehicle [J].SAEPaper2001-01-0138
[32] J.E. Bernard, C.B. Winkler. A Computer Based Mathematical Method forPredicting The Braking Performance of Trucks And Tractor-Trailers[R].Michigan: Highway Safety Research Institute, University of Michigan,1972.
[33] Rudolf Limpert. Investigation of the Brake Force Distribution onTractor-Semitrailer Combinations[J]. SAE Paper720044.
[34] R.W. Murphy, R. Limpert, L. Segel. Bus, Truck, Tractor-Trailer Braking SystemPerformance[R]. Michigan: Highway Safety Research Institute, University ofMichigan,1972.
[35] R.W. Murphy, J.E. Bernard, C.B. Winkler. A Computer Based MathematicalMethod for Predicting The Braking Performance of Trucks AndTractor-Trailers[R]. Michigan: Highway Safety Research Institute, University ofMichigan,1973.
[36] C.B. Winkler, J.E. Bernard, P.S. Fancher, etc.. Truck and Tractor-Trailer Brakingand Handling Project[R]. Michigan: Highway Safety Research Institute,University of Michigan,1976.
[37] R. D. Ervin, R. L. Nisonger, C. Mallikarjunarao, etc.. The Yaw Stability ofTractor-Semitrailer during Cornering[R]. Michigan: Highway Safety ResearchInstitute, University of Michigan,1982.
[38] M. W. Sayers. Computer Algebra in Nonlinear Analyses of the Straight-lineStability of Combination Vehicles [J]. Computers&Structures,1992,44(1/2):279-286.
[39] A. Slibar, P. R. Paslay. The Forced Lateral Oscillations of Trailer [J]. Journal ofApplied Mechanics,1982,24:515-519.
[40] J. Dyn. Sys., Meas. The Nonlinear Behavior of Heavy-duty Truck Combinationswith Respect to Straight-line Stability [J]. Journal of Dynamic Systems,Measurement, and Control,1989,111(4):577-582.
[41] C. MacAdam. A Coputer-Based Study of the Yaw/Roll Stability of HeavyTrucks Characterized by High Centers of Gravity[C]. SAE Paper, No.821206,1986.
[42] Richard W. Radlinski, Mark A. Flick. Tractor and Trailer Brake SystemCompatibility[J]. SAE Paper881942.
[43] Chieh Chen, Masayoshi Tomizuka. Steering and Independent Braking Controlfor Tractor-Semitrailer Vehicles in Automated Highway Systems[C]. The28thIEEE Conference Decision and Control. New Orleans: Institute of Electrical andElectronic Engineers,1989.
[44] Philp W Blow,John H.Woodrooffe. Vehicle Stability and Control Research forU.S. Comprehensive Truck Size and Weight Study[J].SAE Paper982819.
[45] Lugner P.，Plochl M., Riepl A. Investigation of Passenger Car-trailer DynamicsControlled by Additional Braking of the Trailer[C]. In Proceedings ofAVEC.1996:176-181.
[46] Philp W Blow,John H.Woodrooffe. Vehicle Stability and Control Research forU.S. Comprehensive Truck Size and Weight Study[J].SAE Paper982819.
[47] Sampson, D.J.M., Cebon, D. An Investigation of Active Roll System Design forArticulated Heavy Vehicles.AVEC’98No.9836815.
[48] E. Esmailzadeh, B. Tabarrok. Directional response and yaw stability ofarticulated log hauling trucks[J]. SAE Paper2000-01-3478.
[49] D. Hyun. Predictive Modeling and Active Control of Rollover in HeavyVehicles[D]. Texas: Texas A&M University,2001.
[50] D. Shahmirzadi, R. Langari. Intelligent Vs. Sliding Mode Control in RolloverPrevention of Tractor-Semitrailers[J]. International Journal of VehicleAutonomous Systems,2006,(1):68-87
[51] Palkovics L, Ei-Gindy M. Design of An Active Unilateral Brake Control Systemfor Five-Axle Tractor-Semitrailer[J]. Vehicle System Dynamics,1999,(24):725-758.
[52] Wielengal,T.J. A Study of Rollovers preventions Using Anti-RolloverBraking.SAE Paper No.2000-01-1642,2000
[53] Ashley L. Dunn, Gary J. Heydinger, Giorgio Rizzoni, etc. New Model forSimulating the Dynamics of Pneumatic Heavy Truck Brakes with IntegratedAnti-Lock Control[J]. SAE Paper2003-01-1322.
[54] Tetsuya Kanekoa, Ichiro Kageyamab. A Study on The Braking Stability ofArticulated Heavy Vehicles[J]. JSAE Review2003,(2):157-164.
[55] Mark Melletant. Stability Enhancement With the Professors of BrakingTechnology. WABCO, March14th2005.
[56] Kienhofer F. W.; Miller J. I.; Cebon D.. Design Concept for an Alternative HeavyVehicle ABS System[J]. Vehicle System Dynamics,2008,(46):571-583.
[57] Cheng Cai-zhen, Richard Roebuck and Andrew Odhams. High-speed OptimalSteering of a Tractor–Semitrailer [J]. Vehicle System Dynamics: InternationalJournal of Vehicle Mechanics and Mobility,2011,49(4):561-593.
[58]郭正康.汽车列车制动力分配和制动稳定性分析（上）[J].汽车技术,1981,(2):6-9.
[59]郭正康.汽车列车制动力分配和制动稳定性分析（下）[J].汽车技术,1981,(3):10-17.
[60]郭正康.再论汽车列车的制动稳定性（上）[J].汽车技术,1983,(3):16-22.
[61]郭正康.再论汽车列车的制动稳定性（下）[J].汽车技术,1983,(4):16-21.
[62]张海岑.汽车列车操纵稳定性和制动性模拟计算研究[D].北京:清华大学,1992:32-33.
[63]夏长高.半挂汽车列车转弯制动性能的模拟计算[J].江苏理工大学学报,1997,(1):50-55.
[64]张建国.半挂汽车列车制动稳定性仿真分析[D].长春:吉林大学博士学位论文,2007:44-47.
[65]陈荫三,于强.半挂汽车列车直线制动试验分析[J].长安大学学报,2003,(1):67-72.
[66]陈军.牵引半挂汽车列车静态制动气压增长过程对制动性能影响的研究[D].武汉:武汉汽车工业大学硕士论文,2003：51-53.
[67]王国林,韦超毅,陆永华.半挂汽车列车模型的建立与试验[J].农业机械学报,2005,(11):17-20.
[68]许洪国,刘宏飞,于增亮.汽车列车横向稳定性研究[J].公路交通科技,2006,(2):141-150.
[69]宗长富,朱天军,郑宏宇,田承伟.二次型最优控制的半挂汽车列车主动侧倾控制算法研究[J].中国机械工程,2008,19(7):872-877.
[70]张建国.基于闭环控制的半挂汽车列车行驶稳定性研究[D].长春:吉林大学博士学位论文,2010:67-69.
[71]余志生.汽车理论(第二版)[M].北京:机械工业出版社,2000.
[72]安部正人.汽车的运动和操纵[M].陈辛波,译.北京:机械工业出版社,1998.
[73]喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[74]王佳栋.汽车列车运动轨迹跟踪控制仿真研究[D].长春:吉林大学硕士学位论文.2002:51-54.
[75]黄朝胜.重型载货汽车底盘性能设计参数控制研究[D].长春:吉林大学博士学位论文.2005:39-42.
[76]王志强,周雅夫,常城.汽车ABS控制策略的仿真研究[J].汽车科技,2008,(6):25-27.
[77]庄继德.汽车轮胎学[M].北京:北京理工大学出版社,1995.
[78]庄继德.计算汽车地面力学[M].北京:机械工业出版社,2001
[79]黄祖永.地面车辆原理[M].李长祜,陈德兴,刘树学,译.北京:机械工业出版社,1985.
[80] Pacejka Hance B. Tyre and Vehicle Dynamics [M]. Society of AutomotiveEngineers Inc,2002.
[81] Bakker E, Nyborg L, Pacejka H. B., Tire modeling for use in vehicle dynamics[J]. SAE Paper No.870421.
[82]侯永平.轮胎非线性非稳态侧偏特性与半经验模型的研究[D].长春:吉林大学硕士学位论文.1999,15-18.
[83]李洪伟.汽车悬架运动学特性的仿真与试验研究[D].长春:吉林大学硕士学位论文.2007,13-17.
[84]张彦如.汽车半主动悬架模糊控制研究[D].合肥:合肥工业大学硕士学位论文.2005,11-12.
[85] Mark F. Elwell. The Modeling and Control of N-Trailer MultiarticulatedSystems[D]. Salt Lake City: The University of Utah,1995.
[86] Robert C. Lawson, E. H. Law. Optimization to Improve Lateral Stability ofTractor Semi-trailers During Steady State Cornering[J]. SAE Paper2004-01-2690.
[87] E. Esmailzadeh, B. Tabarrok. Directional response and yaw stability ofarticulated log hauling trucks[J]. SAE Paper2000-01-3478.
[88] Racelogic VBOX Intruduction [EB/OL]. Racelogic, http://www.racelogic. co.uk,2010-10-01/2012-03-13.
[89]周世勤.光纤陀螺技术的发展[J].飞航导弹,2001,(2):37-39.
[90]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京:电子工业出版社,1996:27-36.
[91] Racelogic IMU02Intruduction [EB/OL]. Racelogic, http://www.racelogic. co.uk,2010-10-01/2012-03-13.
[92] Racelogic RLVBADC03Intruduction [EB/OL]. Racelogic, http://www.racelogic.co.uk,2010-10-01/2012-03-13.
[93] ISO14792-2003. Road vehicles—Heavy Commercial Vehicles and Buses—Steady-state Circular Tests[S].
[94] GB/T25979-2010.道路车辆-重型商用汽车列车和铰接客车横向稳定性试验方法[S].
[95] GB/T6323.1-1994.汽车操纵稳定性试验方法-蛇形试验[S].
[96]彭涛.半挂汽车列车非线性稳定性控制[D].长春:吉林大学博士学位论文,2012:38-45.
[97] Weiwen Deng, Xiaodi Kang. Parametric study on vehicle-trailer dynamicsforstability control [J]. SAE Paper2003-01-1321.
[98] Weiwen Deng, Yong H. Lee. Effects of tire and vehicle design characteristics onrollover of tractor semi-trailers [J]. SAE Paper2004-01-2046.
[99]中国汽车技术研究中心. GB1589-2004道路车辆外廓尺寸、轴荷及质量限值
[S].北京:中国标准出版社,2004.
[100]应朝阳,周天佑,耿磊. GB7258-2004机动车运行安全技术条件[S].北京:中国标准出版社,2004.
[101]Aleksander Hac, Daniel Fulk Stability and control considerations ofvehicle-trailer combination[J].SAE Paper2008-01-1228.
[102]E. Remco. The Dynamic Behaviour and Stability Control of a Truck/full-trailerCombination [M]. Master Thesis of Eindhoven University of Technology,2006.
[103]Seyed Hossein Tamaddoni, Saied Taheri. Yaw Stability Control of TractorSemi-Trailers Reprinted from: Advancements in Steering Systems; BrakingSystems[C]. SAE International,2008.
[104]车辆主动前轮转向H∞鲁棒控制系统研究[J].汽车工程，2005,27(4)：442-446.
[105]赵广元. MATLAB与控制系统仿真实践[M].北京:北京航空航天大学出版社.2009.
[106]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2007.
[107]潘炜,高镜惠,周雅夫.基于MATLAB/Simulink的汽车ABS的半实物仿真系统[J].微型计算机信息(测控自动化),2003,(19):24.
[108]Cuidong Xu, Cheng K. W. E., Lin Sha. Simulation of the Integrated Controllerof the Anti-Lock Braking System[C].3rd International Conference on PowerElectronics Systems and Applications. Hong Kong: The Institute of Electricaland Electronics Engineers,2009.
[109]高国燊.自动控制原理[M].广州:华南理工大学出版社,2003,62-68
[110]刘叔军等. MATLAB7.0控制系统应用与实例M].北京:机械工业出版社,2005.
[111]汽车工程手册编辑委员会.汽车工程手册·试验篇[M].北京:人民交通出版社,2000.
[112]原田宏主编.汽车控制技术[M].中国第一汽车集团公司技术中心科技信息部资料,朝仑书店,2002.
[113]余卓平，高晓杰.车辆行驶过程中的状态估计问题综述[J].机械工程学报，2009，45(2)
[114]吴融华.重型半挂式汽车列车主参数分析[J].重型汽车.1995,2:1-9.
[115]王佳栋.汽车列车运动轨迹跟踪控制仿真研究[D].长春:吉林大学硕士学位论文,2002.42-44.
[2]孙孝文.和谐交通体系构建研究[D].武汉:武汉理工大学博士学位论文，2007:15-18.
[3]李刚.国外运输企业发展第三方物流的启示[J].铁道运输与经济，2003,11:42-43.
[4]董金松．半挂汽车列车弯道制动行驶方向稳定性及协调控制策略研究[D].长春:吉林大学博士学位论文，2010:6-11.
[5]于忠江,白崭.交通建设与企业物流成本控制[J].中国物流与采购2008,1:76-77.
[6]李刚.国外运输企业发展第三方物流的启示[J].铁道运输与经济,2003,11:42-43.
[7]郭正康.现代汽车列车设计与使用[M].北京:北京理工大学出版社,2006:15-21.
[8]阮哲明.城市交通规划经济评价研究[D].上海:同济大学博士学位论文,2008:14-17.
[9]关志伟.半挂汽车列车行驶稳定性动力学仿真研究[D].长春:吉林大学博士学位论文,2008:9-11.
[10]吕安涛,林玮静.半挂汽车列车安全性设计的技术发展趋势[J].专用汽车.2003,2:9-11.
[11]中华人民共和国道路交通事故统计年报[R].公安部交通管理局,2012:15-17.
[12]常胜,许洪国,刘宏飞.半挂汽车列车鞍座参数匹配及行驶特性分析[J].湖南大学学报(自然科学版),2011,38(2):35-40.
[13]周淑文,张思奇,郭立新等.半挂汽车列车高速紧急壁障稳定性控制研究[J].汽车工程,2009,31(2):161-169.
[14]李源孰.合理选择设计参数提高半挂汽车列车的制动稳定性[J].公路交通科技,1998,(2):57-58.
[15]姜丰.用多体力学方法研究高速半挂汽车列车动力学[D].北京:清华大学博士学位论文,1994,11-12.
[16]刘宏飞.半挂汽车列车横摆动力学仿真及控制策略研究[D].长春:吉林大学博士学位论文,2005:10-11.
[17]关志伟.半挂汽车列车行驶稳定性动力学仿真研究[D].长春:吉林大学硕士学位论文,2003:9-11.
[18]吴学雷,姜吉庆.半挂汽车列车侧倾稳定性计算模拟研究[J].兵工学报,1996,3:1-13.
[19]宗长富,麦莉,李雅娟.重型半挂车的动力学建模及侧倾稳定性分析[J].辽宁工业大学学报,2008.2,28(1):52-56.
[20]许洪国,刘宏飞,于增亮.汽车列车横向稳定性研究[J].公路交通科技,2006.2,23(2):141-150.
[21]李开军,方堃等.半挂汽车列车制动中载荷转移对制动性能的影响[J].农业机械学报,2007.11,38(11):17-21.
[22]赵伟.汽车动力学稳定性横摆力矩和主动转向联合控制策略的仿真研究[D].西安:长安大学硕士论文,2008:12-14.
[23]潘公宇.半挂汽车列车制动性能的研究[J].江苏理工大学学报,1997,(4):17-23.
[24]杨秀建.极限工况下汽车转向失稳的非线性动力学特性与主动控制研究[D].济南:山东大学硕士论文,2009:16-18.
[25]黄杰燕基于TTR预警的重型车辆防侧翻控制系统的研究[D].长春:吉林大学硕士学位论文,2008:11-12.
[26]周红妮.车辆稳定性控制方法于策略的比较研究[D].武汉:武汉科技大学硕士学位论文,2006:7-10.
[27]郭正康.随机制动力矩对重型半挂列车制动稳定性的影响研究[J].汽车工程,1988,1:32-45.
[28] L. Huber, O. Dietz. Pendelbewegungen Von Lastkraftwagen-Anh gern und IhreVermeidung [J]. VDI-Zeitschrift,1937,81(16):459-463.
[29] H. Ziegler. Die Querschwingungen von kraftwagen-Anh gern [J]. Ing.-Archiv,1938,9(2):96-108.
[30] Hales F D. The Lateral Stability of Simply Articulated Vehicles[C]. InternationalUnion of Theoretical Mechanics Symposium,1965:17-34.
[31] Kevin Pavlov. Stability control of combination vehicle [J].SAEPaper2001-01-0138
[32] J.E. Bernard, C.B. Winkler. A Computer Based Mathematical Method forPredicting The Braking Performance of Trucks And Tractor-Trailers[R].Michigan: Highway Safety Research Institute, University of Michigan,1972.
[33] Rudolf Limpert. Investigation of the Brake Force Distribution onTractor-Semitrailer Combinations[J]. SAE Paper720044.
[34] R.W. Murphy, R. Limpert, L. Segel. Bus, Truck, Tractor-Trailer Braking SystemPerformance[R]. Michigan: Highway Safety Research Institute, University ofMichigan,1972.
[35] R.W. Murphy, J.E. Bernard, C.B. Winkler. A Computer Based MathematicalMethod for Predicting The Braking Performance of Trucks AndTractor-Trailers[R]. Michigan: Highway Safety Research Institute, University ofMichigan,1973.
[36] C.B. Winkler, J.E. Bernard, P.S. Fancher, etc.. Truck and Tractor-Trailer Brakingand Handling Project[R]. Michigan: Highway Safety Research Institute,University of Michigan,1976.
[37] R. D. Ervin, R. L. Nisonger, C. Mallikarjunarao, etc.. The Yaw Stability ofTractor-Semitrailer during Cornering[R]. Michigan: Highway Safety ResearchInstitute, University of Michigan,1982.
[38] M. W. Sayers. Computer Algebra in Nonlinear Analyses of the Straight-lineStability of Combination Vehicles [J]. Computers&Structures,1992,44(1/2):279-286.
[39] A. Slibar, P. R. Paslay. The Forced Lateral Oscillations of Trailer [J]. Journal ofApplied Mechanics,1982,24:515-519.
[40] J. Dyn. Sys., Meas. The Nonlinear Behavior of Heavy-duty Truck Combinationswith Respect to Straight-line Stability [J]. Journal of Dynamic Systems,Measurement, and Control,1989,111(4):577-582.
[41] C. MacAdam. A Coputer-Based Study of the Yaw/Roll Stability of HeavyTrucks Characterized by High Centers of Gravity[C]. SAE Paper, No.821206,1986.
[42] Richard W. Radlinski, Mark A. Flick. Tractor and Trailer Brake SystemCompatibility[J]. SAE Paper881942.
[43] Chieh Chen, Masayoshi Tomizuka. Steering and Independent Braking Controlfor Tractor-Semitrailer Vehicles in Automated Highway Systems[C]. The28thIEEE Conference Decision and Control. New Orleans: Institute of Electrical andElectronic Engineers,1989.
[44] Philp W Blow,John H.Woodrooffe. Vehicle Stability and Control Research forU.S. Comprehensive Truck Size and Weight Study[J].SAE Paper982819.
[45] Lugner P.，Plochl M., Riepl A. Investigation of Passenger Car-trailer DynamicsControlled by Additional Braking of the Trailer[C]. In Proceedings ofAVEC.1996:176-181.
[46] Philp W Blow,John H.Woodrooffe. Vehicle Stability and Control Research forU.S. Comprehensive Truck Size and Weight Study[J].SAE Paper982819.
[47] Sampson, D.J.M., Cebon, D. An Investigation of Active Roll System Design forArticulated Heavy Vehicles.AVEC’98No.9836815.
[48] E. Esmailzadeh, B. Tabarrok. Directional response and yaw stability ofarticulated log hauling trucks[J]. SAE Paper2000-01-3478.
[49] D. Hyun. Predictive Modeling and Active Control of Rollover in HeavyVehicles[D]. Texas: Texas A&M University,2001.
[50] D. Shahmirzadi, R. Langari. Intelligent Vs. Sliding Mode Control in RolloverPrevention of Tractor-Semitrailers[J]. International Journal of VehicleAutonomous Systems,2006,(1):68-87
[51] Palkovics L, Ei-Gindy M. Design of An Active Unilateral Brake Control Systemfor Five-Axle Tractor-Semitrailer[J]. Vehicle System Dynamics,1999,(24):725-758.
[52] Wielengal,T.J. A Study of Rollovers preventions Using Anti-RolloverBraking.SAE Paper No.2000-01-1642,2000
[53] Ashley L. Dunn, Gary J. Heydinger, Giorgio Rizzoni, etc. New Model forSimulating the Dynamics of Pneumatic Heavy Truck Brakes with IntegratedAnti-Lock Control[J]. SAE Paper2003-01-1322.
[54] Tetsuya Kanekoa, Ichiro Kageyamab. A Study on The Braking Stability ofArticulated Heavy Vehicles[J]. JSAE Review2003,(2):157-164.
[55] Mark Melletant. Stability Enhancement With the Professors of BrakingTechnology. WABCO, March14th2005.
[56] Kienhofer F. W.; Miller J. I.; Cebon D.. Design Concept for an Alternative HeavyVehicle ABS System[J]. Vehicle System Dynamics,2008,(46):571-583.
[57] Cheng Cai-zhen, Richard Roebuck and Andrew Odhams. High-speed OptimalSteering of a Tractor–Semitrailer [J]. Vehicle System Dynamics: InternationalJournal of Vehicle Mechanics and Mobility,2011,49(4):561-593.
[58]郭正康.汽车列车制动力分配和制动稳定性分析（上）[J].汽车技术,1981,(2):6-9.
[59]郭正康.汽车列车制动力分配和制动稳定性分析（下）[J].汽车技术,1981,(3):10-17.
[60]郭正康.再论汽车列车的制动稳定性（上）[J].汽车技术,1983,(3):16-22.
[61]郭正康.再论汽车列车的制动稳定性（下）[J].汽车技术,1983,(4):16-21.
[62]张海岑.汽车列车操纵稳定性和制动性模拟计算研究[D].北京:清华大学,1992:32-33.
[63]夏长高.半挂汽车列车转弯制动性能的模拟计算[J].江苏理工大学学报,1997,(1):50-55.
[64]张建国.半挂汽车列车制动稳定性仿真分析[D].长春:吉林大学博士学位论文,2007:44-47.
[65]陈荫三,于强.半挂汽车列车直线制动试验分析[J].长安大学学报,2003,(1):67-72.
[66]陈军.牵引半挂汽车列车静态制动气压增长过程对制动性能影响的研究[D].武汉:武汉汽车工业大学硕士论文,2003：51-53.
[67]王国林,韦超毅,陆永华.半挂汽车列车模型的建立与试验[J].农业机械学报,2005,(11):17-20.
[68]许洪国,刘宏飞,于增亮.汽车列车横向稳定性研究[J].公路交通科技,2006,(2):141-150.
[69]宗长富,朱天军,郑宏宇,田承伟.二次型最优控制的半挂汽车列车主动侧倾控制算法研究[J].中国机械工程,2008,19(7):872-877.
[70]张建国.基于闭环控制的半挂汽车列车行驶稳定性研究[D].长春:吉林大学博士学位论文,2010:67-69.
[71]余志生.汽车理论(第二版)[M].北京:机械工业出版社,2000.
[72]安部正人.汽车的运动和操纵[M].陈辛波,译.北京:机械工业出版社,1998.
[73]喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[74]王佳栋.汽车列车运动轨迹跟踪控制仿真研究[D].长春:吉林大学硕士学位论文.2002:51-54.
[75]黄朝胜.重型载货汽车底盘性能设计参数控制研究[D].长春:吉林大学博士学位论文.2005:39-42.
[76]王志强,周雅夫,常城.汽车ABS控制策略的仿真研究[J].汽车科技,2008,(6):25-27.
[77]庄继德.汽车轮胎学[M].北京:北京理工大学出版社,1995.
[78]庄继德.计算汽车地面力学[M].北京:机械工业出版社,2001
[79]黄祖永.地面车辆原理[M].李长祜,陈德兴,刘树学,译.北京:机械工业出版社,1985.
[80] Pacejka Hance B. Tyre and Vehicle Dynamics [M]. Society of AutomotiveEngineers Inc,2002.
[81] Bakker E, Nyborg L, Pacejka H. B., Tire modeling for use in vehicle dynamics[J]. SAE Paper No.870421.
[82]侯永平.轮胎非线性非稳态侧偏特性与半经验模型的研究[D].长春:吉林大学硕士学位论文.1999,15-18.
[83]李洪伟.汽车悬架运动学特性的仿真与试验研究[D].长春:吉林大学硕士学位论文.2007,13-17.
[84]张彦如.汽车半主动悬架模糊控制研究[D].合肥:合肥工业大学硕士学位论文.2005,11-12.
[85] Mark F. Elwell. The Modeling and Control of N-Trailer MultiarticulatedSystems[D]. Salt Lake City: The University of Utah,1995.
[86] Robert C. Lawson, E. H. Law. Optimization to Improve Lateral Stability ofTractor Semi-trailers During Steady State Cornering[J]. SAE Paper2004-01-2690.
[87] E. Esmailzadeh, B. Tabarrok. Directional response and yaw stability ofarticulated log hauling trucks[J]. SAE Paper2000-01-3478.
[88] Racelogic VBOX Intruduction [EB/OL]. Racelogic, http://www.racelogic. co.uk,2010-10-01/2012-03-13.
[89]周世勤.光纤陀螺技术的发展[J].飞航导弹,2001,(2):37-39.
[90]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京:电子工业出版社,1996:27-36.
[91] Racelogic IMU02Intruduction [EB/OL]. Racelogic, http://www.racelogic. co.uk,2010-10-01/2012-03-13.
[92] Racelogic RLVBADC03Intruduction [EB/OL]. Racelogic, http://www.racelogic.co.uk,2010-10-01/2012-03-13.
[93] ISO14792-2003. Road vehicles—Heavy Commercial Vehicles and Buses—Steady-state Circular Tests[S].
[94] GB/T25979-2010.道路车辆-重型商用汽车列车和铰接客车横向稳定性试验方法[S].
[95] GB/T6323.1-1994.汽车操纵稳定性试验方法-蛇形试验[S].
[96]彭涛.半挂汽车列车非线性稳定性控制[D].长春:吉林大学博士学位论文,2012:38-45.
[97] Weiwen Deng, Xiaodi Kang. Parametric study on vehicle-trailer dynamicsforstability control [J]. SAE Paper2003-01-1321.
[98] Weiwen Deng, Yong H. Lee. Effects of tire and vehicle design characteristics onrollover of tractor semi-trailers [J]. SAE Paper2004-01-2046.
[99]中国汽车技术研究中心. GB1589-2004道路车辆外廓尺寸、轴荷及质量限值
[S].北京:中国标准出版社,2004.
[100]应朝阳,周天佑,耿磊. GB7258-2004机动车运行安全技术条件[S].北京:中国标准出版社,2004.
[101]Aleksander Hac, Daniel Fulk Stability and control considerations ofvehicle-trailer combination[J].SAE Paper2008-01-1228.
[102]E. Remco. The Dynamic Behaviour and Stability Control of a Truck/full-trailerCombination [M]. Master Thesis of Eindhoven University of Technology,2006.
[103]Seyed Hossein Tamaddoni, Saied Taheri. Yaw Stability Control of TractorSemi-Trailers Reprinted from: Advancements in Steering Systems; BrakingSystems[C]. SAE International,2008.
[104]车辆主动前轮转向H∞鲁棒控制系统研究[J].汽车工程，2005,27(4)：442-446.
[105]赵广元. MATLAB与控制系统仿真实践[M].北京:北京航空航天大学出版社.2009.
[106]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2007.
[107]潘炜,高镜惠,周雅夫.基于MATLAB/Simulink的汽车ABS的半实物仿真系统[J].微型计算机信息(测控自动化),2003,(19):24.
[108]Cuidong Xu, Cheng K. W. E., Lin Sha. Simulation of the Integrated Controllerof the Anti-Lock Braking System[C].3rd International Conference on PowerElectronics Systems and Applications. Hong Kong: The Institute of Electricaland Electronics Engineers,2009.
[109]高国燊.自动控制原理[M].广州:华南理工大学出版社,2003,62-68
[110]刘叔军等. MATLAB7.0控制系统应用与实例M].北京:机械工业出版社,2005.
[111]汽车工程手册编辑委员会.汽车工程手册·试验篇[M].北京:人民交通出版社,2000.
[112]原田宏主编.汽车控制技术[M].中国第一汽车集团公司技术中心科技信息部资料,朝仑书店,2002.
[113]余卓平，高晓杰.车辆行驶过程中的状态估计问题综述[J].机械工程学报，2009，45(2)
[114]吴融华.重型半挂式汽车列车主参数分析[J].重型汽车.1995,2:1-9.
[115]王佳栋.汽车列车运动轨迹跟踪控制仿真研究[D].长春:吉林大学硕士学位论文,2002.42-44.