Study On High Speed Driving Stability Of Tractor-Semitrailer

Because of its own characteristics and the complexities of driving conditions, Tractor-Semitrailer easily produce shimmy when driving at the high speed. In order to effectively control the high-speed shimmy of Tractor-Semitrailer, differential braking control strategy based on sliding mode variable structure control theory is proposed, and the Corresponding controller is designed. Then, the Simulink controller model and the TruckSim Tractor-Semitrailer vehicle dynamic model are respectively set up, then carried out co-simulation to compare controlled and uncontrolled Tractor-Semitrailer' driving state at high speed. The results show that the proposed control strategy can effectively reduce yaw velocity and roll angle produced by shimmy at high speed driving, so as to achieve the purposes that controlling the high-speed shimmy and improving the stability of Tractor-Semitrailer traveling at high speed.