Research on Path Tracking Control of Articulated Train Active Steering

As articulated train is a kind of vehicle composed of tractor and semi-trailer with angular moving connection, the body structure is long, and the inner wheel difference is often large in the turning process, which poses a safety threat to pedestrians and vehicles inside the bend. In view of this, the turning dynamics model of articulated train is established in this paper, and the active steering control of the front axle of tractor and the rear axle of semi-trailer is carried out by PSO optimization model predictive control (MPC). Based on the joint simulation experiment platform of Trucksim and Simulink, the change of the position of the center of mass when the vehicle turns is analyzed. The results show that proper active steering of the front axle of the tractor and the rear axle of the semi-trailer can effectively reduce the inner wheel difference, reduce the yaw rate and improve the running stability of the articulated train.