Development and Research of the Mathematical Model of Planar Motion of a Vehicle with a Semitrailer

Steady-State Steering Characteristics of Mathematical Model for Semitrailer Based on Variations in Camber Parameters

“…In general, the dynamic characteristics of semitrailer are much more complex than those of a truck. ese primarily involve the relative motion between the tractor and trailer and the coupling effects between the traction seat and the traction pin of semitrailer [11][12][13]. To study the dynamic characteristics of a semitrailer, the following aspects are simplified in the semitrailer model due to combining automobile theory with multibody dynamics:…”

“…(i) e tractor and trailer are regarded as rigid bodies, and the semitrailer trains are regarded as a combination of two rigid bodies connected via the coupling of a traction pin and traction seat (ii) e roll and yaw motions of the semitrailer train are considered while the vertical and pitching motions are not (iii) In the analysis of the force for the semitrailer train system, the rolling and air resistances are neglected (iv) In the analysis of the side deflection force of the tires, the side deflection angles of the left and right tires are assumed to be equal and relatively small, and the front wheel angle of the tire is also considered to be relatively small Based on the above simplifications, the semitrailer train can be simplified using a monorail and double centroid model [12,14,15] with five DOFs. e DOFs are the lateral motion y, yaw motion r, roll angle of the tractor and trailer φ, steering angle δ, and folding angles between the tractor and trailer θ.…”

“…When the vehicle system is under steady-state steering conditions, it is considered that ω r 1 � ω r 2 � ω r , β 1 � β 2 � β, and θ are all approximately constant. In the differential equation system of equation (12),…”