Assessing the influence of the road-tire friction coefficient on the yaw and roll stability of articulated vehicles

Mendes, André de Souza; Fleury, Agenor de Toledo; Ackermann, Marko; Leonardi, Fabrizio; Bortolussi, Roberto

doi:10.1177/0954407018812957

Cited by 13 publications

(7 citation statements)

References 28 publications

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“…The typically value of this lateral acceleration limit lies between 0:25g and 0:5g. 24,42 For the next stage of the test, between t = 8 s and t = 10 s, the front wheels are steered to the right, so that the chassis is rotated in alignment with the desired trajectory, parallel to the original line. To go through the straight section of the test box, the steered wheel is maintained at d = 08.…”

Section: Methods and Resultsmentioning

confidence: 99%

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Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course

Acuña

Rodrigues

Queiroz

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, the computer-aided vehicle dynamic analysis of a 6x6 heavy military truck is presented and examined. For the analysis, a MATLAB/Simulink® platform is used to design and model a truck. The vehicle configuration taken into account for the analysis is the powertrain (engine, gear box, transfer gear, differential), suspension, steering system and tire model according to the Pacekja 89’ formulation. In addition, the effect of the rolling resistance and drag is considered, in order to represent the vehicle behavior as real as possible. The longitudinal dynamic and lateral dynamic are formulated. First, the longitudinal dynamic model is established by means of implementation of the weight transfer function. The vehicles are considered as rigid bodies with 1 degree of freedom. Second, the vehicular planar model with three wheels, well known as bicycle model, is applied following the North Atlantic Treaty Organization double line change maneuver test reaching 3 degree of freedom. The driver behavior is represented by using an adaptive model predictive control varying the longitudinal velocity. The forces for braking, inertia of the rotating components, the energy lost in the powertrain, and the effect of dive squat and rollover. The numerical simulation results are shown and compared with a full-vehicle model formed by using Mechanical Simulation Corporation’s truckSIM®. There were chosen simulation scenarios applied to the model to observe the effects of different parameters concerning the dynamic behavior, and also prepared in truckSIM® environment. The main contributions of this article are the development of the vehicular model, through the use of block diagrams in a reliable and relatively simple programming code such as MATLAB/Simulink®, with innovative tools used in the control of autonomous vehicle driving and the flexibility to adapt said model to different environmental conditions and different vehicle parameters.

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Section: Methods and Resultsmentioning

confidence: 99%

“…Thus, the resulting characteristic curve is capable of adequately quantify the tire longitudinal force, F x , for the entire range angle. 1,11,24 The longitudinal force, F x , is formulated from equations (3)–(11) as follows…”

Section: Mathematical Modelsmentioning

confidence: 99%

Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course

Acuña

Rodrigues

Queiroz

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…The length of the caterpillar band-to-ground contact L is much larger than its width b. This allows us to replace the double integral in equations ( 4) with a single one with an error of no more than 2% [26]. In this case, the average normal pressure in the contact is q = G/2Lb.…”

Section: Figure 1 a Diagram Of The Forces Acting On The Plowing Unitmentioning

confidence: 99%

“…However, due to grousers, the interaction of the caterpillar band with the ground acquires anisotropic properties, which can be expressed by introducing different friction coefficients μ i in the longitudinal μ xi and transverse μ yi directions [26]. Because of the transverse arrangement of grousers, there is almost no elastic deformation of ground in this direction, since the ground cut begins almost at once μ yi = μ myi .…”

Section: Figure 1 a Diagram Of The Forces Acting On The Plowing Unitmentioning

confidence: 99%

Directional stability of an agricultural tractor

Troyanovskaya¹,

Zhakov²,

Grebenshchikova³

et al. 2021

FME Transactions

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The discrepancy between the plow width and the tractor width leads to the asymmetry of plowing units. The geometry of the plowshare surface of the moldboard plow contributes to the generation of lateral forces on the working tool. All this leads to the imbalance of the tool and the deviation of the tractor from straight-line movement during plowing. To maintain straight-line movement, the driver has to adjust the machine every 5-10 meters, which is highly tiresome. To study the causes of lateral slips of the plowing unit, we constructed a mathematical model, which consists of the equations of controlled movement and equations of the tractor's uncontrolled shear under the action of external forces from the plow. The description of the force interaction of the drive with the ground is based on the mathematical theory of friction, taking into account anisotropy and elastic properties in contact. Based on the passive shear model, we constructed a hodograph diagram of the maximum tractor shear force from the side of the working tool. We found that the shear force reaches its maximum friction value only in the case of a translational shear, when its line of action passes through the tractor's center of gravity. In all other cases, the shift (slip) of the tractor is caused by a lower force. We formulated the features and assumptions of the model as applied to caterpillar and wheeled tractors. As a result, we found that, regardless of the direction of the lateral displacement of the plow's traction resistance, the tractor is slipped towards the plowed field. The result of the numerical experiment showed that the main reason for the slip of the wheeled plowing unit is the difference in soils along the sides of the tractor but not the deviation of the plow traction resistance.

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“…Furthermore, the stability boundary was estimated, and the influences of the speed, road adhesion coefficient, and steering wheel angle on the stable region were studied. Mendes et al 20 studied the influence of different road adhesion coefficients on the yaw stability of a semi-trailer truck and used the phase trajectory method to distinguish non-jackknife and non-rollover regions in the stable region of the phase plane. Based on the definition of the static bifurcation of a nonlinear system.…”

Section: Introductionmentioning

confidence: 99%

Direct yaw-moment control of vehicles based on phase plane analysis

Liu

Song

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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In view of the problems related to vehicle-handling stability and the real-time correction of the heading direction, nonlinear analysis of a vehicle steering system was carried out based on phase plane theory. Subsequently, direct yaw-moment control (DYC) of the vehicle was performed. A four-wheel, seven-degree-of-freedom nonlinear dynamic model that included the nonlinear characteristics of the tire was established. The stable and unstable regions of the vehicle phase plane were divided, and the stable boundary model was established by analyzing the side slip angle–yaw rate ([Formula: see text]) and side slip angle–side slip angle rate [Formula: see text] phase planes as functions of the vehicle state variables. In the unstable region of the phase plane, taking the instability degree as the control target, a fuzzy neural network control strategy was utilized to determine the additional yawing moment of the vehicle required for stability restoration, which pulled the vehicle back from an unstable state to the stable region. In the stable region of the phase plane, a fuzzy control strategy was utilized to determine the additional yawing moment so that the actual state variables followed the ideal state variables. In this way, the vehicle responded rapidly and accurately to the steering motion of the driver. A simulation platform was established in MATLAB/Simulink and three working condition was tested, that is, step, sine with dwell, and sine amplification signals. The results showed that the vehicle handling stability and the instantaneous heading-direction adjustment ability were both improved due to the control strategy.

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Assessing the influence of the road-tire friction coefficient on the yaw and roll stability of articulated vehicles

Cited by 13 publications

References 28 publications

Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course

Modeling and dynamic analysis of a 6 x 6 heavy military truck by adaptive model predictive control with application to NATO lane change test course

Directional stability of an agricultural tractor

Direct yaw-moment control of vehicles based on phase plane analysis

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