| At present,modern and scientific warfare has become the development trend of all countries' militaries.In order to improve our military's capability of modern warfare,it is urgent to develop a batch of excellent modern military equipment,this puts forward a higher requirement for the braking performance of the middle axle type special trailer in our army.As one of the key technologies of braking system,anti-lock braking technology has always been the focus of people's attention.Due to the separable connection mechanism between the central axle trailer and the tractor,while ensuring the flexible connection/separation between the trailer and the tractor,it is also more prone to brake instability than the conventional semitrailer,and even dangerous accidents such as tail swing and folding may occur under emergency braking conditions.Therefore,it is of great significance to research the anti-lock braking technology of central axle trailer for ensuring vehicle safety and improving our army's continuous combat capability.This paper takes a certain type of special trailer with middle axle as the research object.An anti-lock braking technology scheme for the special trailer with the direct motor-driving braking system as the core is proposed,and an anti-lock braking control strategy based on the road identification algorithm is designed.Firstly,this paper presents the overall structure of the brake system of the special trailer with middle axle and the overall scheme of the brake anti-lock control technology.Secondly,this paper designs the brake anti-lock control strategy based on the road identification technology.Considering that the optimal slip rate of the wheel will change under different road working conditions,a fuzzy road identification method is designed to estimate the optimal slip rate of the wheel in real time,and the estimated optimal slip rate is input into the brake anti-lock sliding mode control strategy.The sliding mode variable structure control strategy takes the slip rate as the control target to control the braking pressure in real time,so that the current slip rate is near the optimal slip rate and the vehicle has good braking performance and safety.At last,Matlab/Simulink,TruckSim and AMESim were used to build a joint simulation platform for the simulation analysis of anti-lock braking under different working conditions,and the comparison was made with the trailer without anti-lock braking function.Simulation results demonstrate the effectiveness and robustness of the proposed control strategy.In addition,a test bench was built to test the performance of motor direct drive braking system. |
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