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Articulated heavy vehicles have heavy loads, high shipping efficiency and low mileage cost. But due to the interaction between the tractor and the trailer, it is easy to appear "jack-knifing" or "trailer sway" and it is difficult to follow the given path of the travel. To this end, a four degrees of freedom single track model of a tractor/full-trailer is built, and the stability...
The paper presents the concept and stability analysis of a trajectory-tracking feedback control system for truly N-trailer robots equipped with arbitrary number of trailers interconnected by the non-zero hitching offsets. Thanks to application of the cascaded-like control structure the considered solution is modular and highly scalable with respect to a number of trailers. Formal analysis of the closed-loop...
Handling stability of a vehicle is one of the most important properties of vehicle safety. Compared to a rigid vehicle, an articulated vehicle such as a tractor-semitrailer is a more complicated dynamic system with coupling effect between the tractor and the semitrailer. Mismatch of system parameters, incorrect design or improper operation may lead to a tractor-semitrailer into instable situations...
The dynamic model and its dynamic equations for the full trailer are established according to principles of Rigid-body Dynamics in this article. Based on the dynamics model of fully articulated vehicle, the trailer controller is designed as a reference model for the optimal control system of the model following variable structure control system. The control system adopts the pole assignment method...
This paper presents a benchmark investigation on control algorithms for active trailer steering (ATS) systems of articulated heavy vehicles (AHVs). Two control algorithms are designed for the ATS systems of AHVs, which are derived using the Fuzzy Logic Control (FLC) and Linear Quadratic Regulator (LQR) techniques, respectively. The two algorithms are evaluated through dynamic simulations of an AHV...
This paper presents a linear dynamics model of tractor/full trailer with six degrees of freedom, and a series of simulations are performed on obstacle avoidance manoeuvers in which the combination vehicle moves at a constant forward speed. It is found that the ratio of the peak lateral acceleration of the full trailer's center of gravity (CG) to that of the tractor is 2.3, meanwhile, the articulated...
The lateral stability for the tractor-semitrailer vehicle which consists of the tractor and the semitrailer is much more complex compared with the individual 2-axle vehicle. ‘Jackknife’ and ‘lateral sway’ are the typical lateral destabilizations in server situations. Considering the strong nonlinear property of tyre force in severe situations, nonlinear system method is used here to study the lateral...
Rollover and jack-knifing of car-trailer combination on overtaking or obstacle avoidance under emergency are serious threats for motorists. A car-trailer combination model was built in this paper. The kinematics of car-trailer combination has been analyzed, and a 4 DOF model was built to act as the controller predictive model. The dynamics simulation for yaw rate following and anti-rollover has been...
If the dynamics of combined vehicles such as tractor-semitrailer varies greatly, it may be very difficult for inexperienced drivers to achieve good handling stability. Moreover, once combined vehicles become unstable, it is very difficult for all drivers to stabilize vehicles. However, if the behavior of actual combined vehicles tracks a designed desired combined vehicle, the good handling property...
A simplified 6-axle linear vehicle model to determine the stability control associated with tractor semi-trailers is proposed. The propose of this model is to describe the vehicle dynamics accurately so as to design the active safety controller well. Verification of the 6-axle planar model is performed by putting drastically handling maneuver inputs into the model steering, then comparing the response...
The active safety and stability of tractor semi-trailer have becoming big concern among the road transportation industry. The paper sets up a six-axle plane dynamic model for simulating the yaw/roll stability of heavy tractor semi-trailer using Matlab/Simulink. LQR controller is chosen to produce the optimum compensate yaw moment to correct the vehicle path based on the bias of yaw rate and lateral...
This paper introduces the differential-braking algorithm to control the stability of tractor semi-trailer. First, it analyses the theory of differential-braking control and confirm the control strategy that follows the ideal yaw rate of 2-DOF model. From this point of view, a PID controller has been designed. The result of the co-simulation associated with MATLAB and ADAMS shows that the differential-braking...
The paper sets up a simplified dynamic model for simulating the yaw/roll stability of heavy tractor-semitrailer using Matlab/Simulink. A linear quadratic regulator (LQR) based on partial-state feedback controller is used to optimize the roll stability of the vehicle. The control objective for optimizing roll stability is to be reducing the lateral load transfer rate while keeping the suspension angle...
Based on the analysis of the steering performance, the objective of this paper is to present evidence for the tractor adopted the four-wheel steering (4WS) which can improve the handling and stability of tractor semi-trailer. The simplified single track model with 3 DOF for 4WS tractor semi-trailer has been constructed for dynamic simulation through time-domain response on the two states of small...
A quasi-linear driver model was developed, and a closed loop tractor-semitrailer vehicle system composed of the driver model and a tractor-semitrailer vehicle model of 3-degrees-of-freedom were proposed. The stability of closed loop vehicle system was studied by simulating the system with different parameter values. A roots-locating numerical method was used to identify critical speed of the system...
This paper proposes how the test case Sine With Dwell could be modified for the evaluation of yaw stability of heavy vehicles. The test case was originally proposed by the National Highway Traffic Safety Administration (NHTSA) for evaluation of Electronic Stability Programs (ESP) performance during an oversteer situation on high friction. The modified test case presented here accounts for the heavy...
The main purpose of this paper is to design active roll control system to improve the roll stability of the heavy tractor semi-trailer. This paper studies an adaptive gain scheduling controller with LQR method, in which the vehicle speed is variable. A linear quadratic regulator (LQR) based on state feedback controller is used to optimize the roll stability of the vehicle. The control objective for...
The problem of lateral control of autonomous farm vehicles in presence of sliding is addressed in this paper. First a kinematic model is built in which sliding effects are integrated in form of additive disturbances to the ideal kinematic model. To make vehicles robust to those sliding effects, a sliding mode controller is designed by transforming the kinematic model into a perturbed chained system...
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