Model Predictive Control of Car-trailer combinations based on Differential Braking

摘要

To improve the dynamic stability at high speeds (ca. 100-120km/h) of Car-trailer combinations (CTC), a differential-braking-based dynamic stability control system is proposed. An extended single-track model (ESTM) is established, in which a differential braking subsystem is simply modelled and integrated. On this basis, the dynamic stability control algorithms were designed using a model predictive control (MPC) method. The control objective is to maintain reasonable side-slip angles and yaw rates. Three control schemes are proposed, in which the differential braking force is applicable at the towing car, trailer or both. The capabilities of control schemes are evaluated and compared. The transient responses at high speeds are analyzed by phase plane analysis method to evaluate the system dynamic stability. Co-simulation is established in MATLAB/Simulink and TruckSim under a steering impulse input. Results show that the proposed control system could accelerate the convergence of yaw motion and improve the system dynamic stability at high speeds. It is proved that a low-cost solution to improve the system dynamic stability via a differential braking in the towing car is feasible and effective.