Analysis of dynamic lateral response for a multi-axle-steering tractor and trailer

Wu, Der Ho; Lin, Jia Hai

doi:10.1504/ijhvs.2003.003694

Cited by 32 publications

(26 citation statements)

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“…Finally, conclusions are drawn in Section 6. Figure 1 shows the three DOF linear yaw plane model [10,13,14], representing an articulated vehicle that consists of a truck and a drawbar trailer with a dependent front axle. The truck and drawbar trailer are connected by a hinge pin.…”

Section: Please Scroll Down For Articlementioning

confidence: 99%

“…Hence, the linear vehicle model was adopted in the research. (2) In order to investigate the variations of RWA ratio of AHVs and derive lateral motion control algorithms, linear yaw plane models are usually used [2,3,7,9,10,13]. (3) Nonlinear three-dimensional articulated vehicle models considering rolling motion have been used to achieve accurate numerical results and validate the control algorithms derived from simplified linear models [17,18].…”

Section: Vehicle Modelmentioning

confidence: 99%

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A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

Islam

Ding

2012

Vehicle System Dynamics

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A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems, Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, 50:5, 675-697, This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs' manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a welldefined testing manoeuvre, a driver model is introduced and it 'drivers' the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems.

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Section: Please Scroll Down For Articlementioning

confidence: 99%

Section: Vehicle Modelmentioning

confidence: 99%

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

Islam

Ding

2012

Vehicle System Dynamics

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“…They showed that lateral acceleration and minimum turning radius could be reduced and offtracking improved with additional steering axle. Wu and Lin (2003) showed that active multi-axle steering for a tractor-and-one-full-trailer system could improve lateral stability characteristics, reduce lateral loads, and provide better manoeuverability of the system. Chen and Tomizuka (2000), in their study on lateral control of tractor-semi-trailer-type commercial vehicles, showed that by applying coordinated braking, trailer yaw velocities could be reduced.…”

Section: Introductionmentioning

confidence: 99%

Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following

Rangavajhula

Tsao

2007

IJHVS

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In this paper, we consider several control strategies to minimize off-tracking and rearward amplification of a multi-axle steering system with a tractor and three full trailers. A five-degree-of-freedom linear yaw-plane model is used to describe the vehicle dynamics. A tyre model describing the lateral tyre forces as a linear function of sideslip angles is incorporated in the yaw model. Given any arbitrary tractor track desired realtime by the driver, automated control inputs are the steering angles of front axles of the trailers. A minimum rearward amplification ratio (RWA), as a surrogate for minimum off-tracking, has been used as the control criterion for medium to high speeds to arrive at an optimal Linear Quadratic Regulator (LQR) controller. Robustness of the optimal controller with respect to tyre-parameter perturbations is then examined. Based on the simulation results, we find that, active steering at all trailers gives the lowest RWA. To achieve acceptable levels of RWA and off-tracking, at least two of the three trailers must be actively steered. Among the three two-trailer-steering possibilities, actively steering trailers 1 and 2 is optimal and results in the lowest RWA with offtracking practically eliminated. The optimal LQR controller is remarkably robust with respect to tyre-parameter variations.

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“…From the dynamic analysis viewpoint, if the rear wheels of the trailer steer a small angle which is opposite to the turning direction [9], the stability of the trailer can be improved, and the lateral interference between the trailer and the tractor can be weakened [10,11].…”

Section: Model Of Trailer With Rear Wheel Compliant Steeringmentioning

confidence: 99%

Dynamic modeling and simulation of trailer with compliance steering system

Wang

Chen

2017

MATEC Web Conf.

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Abstract. Stability of a vehicle and tire wear is affected by the movement inference between the tractor and the trailer when the trailer is turning. Therefore, to solve the problem, Compliant Steering (CS) system is used. The system makes the rear-wheel of the trailer steer. After establishing a dynamic model of the trailer and the CS system, the simulation result shows that the system has a smaller lateral force. This smaller force at the hinge point indicates movement inference is reduced and motion response is far better. Furthermore, this paper contains the analysis of the influence of the key parameters of CS system and the speed on the moving characteristics of the trailer.

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Analysis of dynamic lateral response for a multi-axle-steering tractor and trailer

Cited by 32 publications

References 0 publications

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems

Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following

Dynamic modeling and simulation of trailer with compliance steering system

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