Integrated Control model of ESP and AFS for Semi-trailer Train

To make up for the lack of body stability system or the active front-wheel steering system controlling the lateral stability of semi-trailer train, a body stability control system with the linear four-degree-of-freedom semi-trailer trains model was built. In the system, an active system with the control target of the yaw rate was proposed. The integrated control strategy of the front wheel steering is included in the ESP controller with fuzzy PID and the AFS controller with synovial variable structure. At the same time, a vehicle dynamic model of a semi-trailer train was built, and a steering wheel angle step simulation test was performed using TruckSim/Simulink. The results were shown that compared with a separate ESP or AFS controller, the integrated control strategy based on the new rules suppresses the lateral acceleration, reduces the overshoot of the yaw rate, and effectively improves the semi-trailer train lateral stability.