Electronic Control System of Rotating Axes of Long Based Road train

Abstract

In the article the description of the developed electronic control system of rotary axes of the long road train is presented. The electrohydraulic control system contains two control paths: the main, the signals fulfilling the operating influence set by the driver in the form of an angle of rotation of a steering wheel and correcting, using as the setting parameters from feedback sensors: road speed of the road train, side acceleration of the semi-trailer and its angular vertical axis speed. The description of mathematical model of the of long road train with the rotary axes including linearized single-track is provided. The algorithm of management of an adaptive control system of rotary axes of the long road train with the correcting control path is developed. The use of a ECS of rotary axes with the correcting control path optimizing the offset value of the cart of the semi-trailer guidepath to of a basic point of the tractor allows to reduce it to 0.1 m.