As demands increase for goods transportation services, long articulated vehicles are introduced as a viable alternative to conventional heavy-duty vehicles. Nowadays, steering control systems are commonly used for enhancing the stability and handling of articulated vehicles. As situations become more difficult for the movement of a vehicle, the ability of the steering actuators decreases and it will not be possible to use this controller alone in critical maneuvers. Another effective way to adjust the directional dynamics of a long articulated vehicle is the simultaneous application of the braking and steering systems. In a situation where the vehicle is close to the ultimate steering limit, it is desirable to reduce the speed, and the steering system can be strengthened through the intervention of the braking system. In this article, a 23 degree of freedom dynamic model of the long articulated vehicle has been developed in MATLAB software. After determining the reference control variables, we will design a sliding mode controller to steer the tractor’s front axle and the semi-trailer’s rear axles. After defining and setting the weight coefficients using a performance indicator, we will design an integrated controller in a way that if maneuvers become more difficult to perform and the efficiency of the steering actuators decreases, the braking forces exerted on the tractor’s rear axle and the semi-trailer’s rear axles will take a share in regulating the vehicle’s movement. The main achievement of this article is the introduction of a new method to integrate braking and steering control systems in long articulated vehicles. The paper aims to prove that only if manoeuvres become more difficult to perform and the performance of steering actuators decreases, then braking forces can take part in regulating the vehicle’s movement.

中文翻译：

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设计新型集成控制器（制动和转向）以保持长铰接车辆的稳定性

随着对货物运输服务需求的增加，长铰接车辆被引入作为传统重型车辆的可行替代品。如今，转向控制系统通常用于提高铰接式车辆的稳定性和操控性。随着车辆移动的情况变得更加困难，转向执行器的能力降低，并且在关键操作中不可能单独使用该控制器。另一种调整长铰接车辆方向动力学的有效方法是制动和转向系统的同时应用。在车辆接近极限转向极限的情况下，最好降低车速，通过制动系统的介入来加强转向系统。在本文中，在 MATLAB 软件中开发了长铰接车辆的 23 自由度动力学模型。在确定参考控制变量后，我们将设计一个滑模控制器来控制牵引车的前桥和半挂车的后桥。在使用性能指标定义和设置权重系数后，我们将设计一个集成控制器，如果操作变得更加困难并且转向执行器的效率降低，则施加在拖拉机后轴和半轴上的制动力-拖车的后轴将参与调节车辆的运动。本文的主要成果是引入了一种在长铰接车辆中集成制动和转向控制系统的新方法。