Modeling and Simulation of Pneumatic Braking System in Military Double-trailer Truck

doi:10.12382/bgxb.2024.0145

Abstract

Abstract:

A modeling method is proposed for a pneumatic drum braking system in military double-trailer truck,which takes the response delay of pneumatic braking,the brake fade due to temperature increase during braking processes,and the dynamic involvement of anti-lock braking system (ABS) into considerstion A model of pneumatic braking system is established by analyzing its structure and operating principle.A co-simulation of the pneumatic braking system model and the vehicle’s multi-body dynamics model is conducted to validate theaccuracy of proposed model.The effects of different road adhesion conditions on the braking performance of actual vehicle are analyzed through simulation.The results show that the simulated chamber pressure,vehicle speed,braking distance,and braking time are highly consistent with the experimental data,with the prediction errors for braking distance and time being less than 3.9% and 2.4%,respectively.Furthermore,the braking performance under various road surface adhesion conditions is simulated and analyzed.The results confirms the model’s effectiveness,further substantiating the feasibility of the proposed modeling method.

Key words: vehicle engineering, double-trailer truck, pneumatic braking system, drum brake, brake delay, brake fade, co-simulation

CLC Number:

U461.3

SUN Nan, ZHANG Wenming, YANG Jue. Modeling and Simulation of Pneumatic Braking System in Military Double-trailer Truck[J]. Acta Armamentarii, 2025, 46(4): 240145-.

Figures/Tables 27

Fig.1 Double-trailer truck

Fig.2 Brake system configuration in a double-trailer truck

Fig.3 Schematic diagram of the assembly of brake chamber and S-cam brake drum

Fig.4 Brake chamber pressure during straight-line braking test at an initial speed of 32km/h

Fig.5 Test results of air transport delay at different initial speeds

Table 1 Air transport delay in control line

车辆单元	传输延迟/s
牵引车	0.02
前挂车	0.20
牵引拖台	0.24
后挂车	0.44

Table 2 Actuation and release times of brake chamber

车辆单元	制动应用响应时间/s	制动释放响应时间/s
牵引车	0.45	0.55
牵引拖台	0.55	1.10
挂车	0.50	1.00

Table 3 Time constants used in pneumatic braking system models for tractor,trailer,and dolly

模型	T_tractor	T_trailerA	T_dolly	T_trailerB
制动应用模型	0.281	0.323	0.364	0.323
制动释放模型	0.089	0.240	0.271	0.240

Fig.6 Experimental data for drum brakes of steering, drive,and trailer axles

Fig.7 Piecewise linear curves of brake torque versus chamber pressure at braking initial speeds of 32km/h and 97km/h

Fig.8 Relationship between slope and initial speed

Table 4 Parameters of brake torque model

车辆单元	M_bc/(N·m)	M_b32/(N·m)	M_b97/(N·m)
牵引车转向轴	1593.0	8855.7	5922.5
牵引车驱动轴	3366.2	15646.4	12529.7
挂车/拖挂平台车轴	2902.0	12844.6	9871.3

Fig.9 Simulated and test results of the brake torque and chamber pressure at different initial speeds

Fig.10 Diagram of wheel rotational motion during braking

Fig.11 Coefficient of road adhesion versus slip rate

Table 5 Parameters of tractor modeling

参数	数值
簧上质量/kg	7193.49
侧倾转动惯量/(N·m²)	2289171.51
俯仰转动惯量/(N·m²)	7037402.78
横摆转动惯量/(N·m²)	7325081.15
轴距/mm	6477.0
转向轴轮距/mm	1955.8
驱动轴轮距/mm	1955.8
驱动轴双轮间距/mm	304.8
重心距销轴距离/mm	3233.9
重心高度/mm	1010.9

Table 6 Parameters of trailer modeling

参数	数值
空载质量/kg	4585.41
满载质量/kg	11406.02
侧倾转动惯量/(N·m²)	5469926.64
俯仰转动惯量/(N·m²)	4059938.78
横摆转动惯量/(N·m²)	3940588.39
轴距/mm	8415.4
轮距/mm	1955.8
双轮间距/mm	304.8
重心距销轴距离/mm	4343.4
重心高度/mm	2019.3

Table 7 Parameters of dolly modeling

参数	数值
空载质量/kg	693.51
满载质量/(N·m²)	38605.13
侧倾转动惯量/(N·m²)	48230.89
俯仰转动惯量/(N·m²)	48230.89
横摆转动惯量/(N·m²)	3940588.39
轮距/mm	1955.8
双轮间距/mm	304.8
重心距销轴距离/mm	800.1
重心高度/mm	899.2

Fig.12 Tire model in co-simulation model

Fig.13 Co-simulation model of braking dynamics for double-trailer truck

Fig.14 Co-simulation model scheme

Fig.15 Brake control pressure input for model validation

Fig.16 Comparison of simulated and experimental results of chamber pressure during straight-line braking

Fig.17 Comparison of simulated and experimental results of speed during straight-line braking

Fig.18 Comparison of simulated and test results of braking distance

Fig.19 Comparison of simulated and test results of braking time

Fig.20 Simulated results for different initial speeds and coefficients of road adhesion

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