Abstract A linear reversing control strategy based on the stable and feasible domains of a hitch angle is proposed to address the linear reversing problem with expectation caused by unstable open-loop conditions of semi-trailer trains during reverse driving. In the reversing process, the coupling relationship amongst the location parameters, such as hitch angle, semi-trailer posture angle and axis offset, including the influence of these parameters on the reversing stability and feasibility of semi-trailer trains, is analysed. The stable and feasible domains of the hitch angle when the semi-trailer is reversed in an expected straight line are determined. Based on this, the semi-trailer linear reversing control strategy is established. The tracking control of the linear reversing path is adopted by the variable universe fuzzy control, and the co-simulation based on ADAMS and MATLAB/Simulink and the subsequent actual vehicle experiment are conducted. Simulation and experimental results show that the proposed linear reversing control strategy of the semi-trailer based on the hitch angle stable and feasible domains can accurately realise the linear reverse-path tracking of the semi-trailer train, effectively avoiding the problems of jack-knife and trailer swing during the reversing process. Thus, the difficulty of the straight reverse operation is substantially reduced.

中文翻译：

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基于牵引角稳定可行域的半挂车列车线性倒车控制

摘要 针对半挂车在倒车过程中开环不稳定引起的带期望线性倒车问题，提出了一种基于牵引角稳定可行域的线性倒车控制策略。在倒车过程中，分析了挂接角、半挂车姿态角和轴偏移等位置参数之间的耦合关系，包括这些参数对半挂车倒车稳定性和可行性的影响。确定了半挂车沿预期直线倒车时牵引角的稳定可行域。在此基础上，建立了半挂车直线倒车控制策略。采用变域模糊控制对直线倒车轨迹进行跟踪控制，并进行了基于ADAMS和MATLAB/Simulink的联合仿真及后续实车实验。仿真和实验结果表明，所提出的基于牵引角稳定可行域的半挂车线性倒车控制策略能够准确实现半挂车列车的线性倒车轨迹跟踪，有效避免千斤顶问题。和拖车在倒车过程中摆动。从而大大降低了直线倒车操作的难度。仿真和实验结果表明，所提出的基于牵引角稳定可行域的半挂车线性倒车控制策略能够准确实现半挂车列车的线性倒车轨迹跟踪，有效避免千斤顶问题。和拖车在倒车过程中摆动。从而大大降低了直线倒车操作的难度。仿真和实验结果表明，所提出的基于牵引角稳定可行域的半挂车线性倒车控制策略能够准确实现半挂车列车的线性倒车轨迹跟踪，有效避免千斤顶问题。和拖车在倒车过程中摆动。从而大大降低了直线倒车操作的难度。