Improving roll stability of articulated heavy vehicles using active semi-trailer steering
Cheng, Caizhen and Cebon, David. (2008) Improving roll stability of articulated heavy vehicles using active semi-trailer steering. Vehicle System Dynamics, Vol.46 (Suppl.1). pp. 373-388. ISSN 0042-3114Full text not available from this repository.
Official URL: http://dx.doi.org/10.1080/00423110801958576
This paper discusses an optimal linear quadratic control algorithm to improve the roll stability of a tractor semi-trailer using active semi-trailer steering. The controller minimises a combination of the path-tracking deviation of the trailer rear end relative to the path of the hitch point (5th wheel) and the lateral acceleration of trailer centre of gravity (CoG). First a linear vehicle model of tractor semi-trailer is constructed. Then a ‘virtual driver’ model for trailer steering control is introduced to minimise the path-tracking deviation of trailer rear end. The lateral acceleration of trailer CoG is included as a second objective of the optimal controller so as to improve roll stability. A Kalman filter with linear vehicle model is used to estimate unknown vehicle states, needed by the controller. Simulation results show that optimal control of semi-trailer steering could improve the roll stability significantly during transient manoeuvres while keeping the path-tracking deviation of trailer rear end within an acceptable range.
|Item Type:||Journal Article|
|Subjects:||T Technology > TJ Mechanical engineering and machinery
T Technology > TL Motor vehicles. Aeronautics. Astronautics
|Divisions:||Faculty of Science > Engineering|
|Journal or Publication Title:||Vehicle System Dynamics|
|Publisher:||Taylor & Francis Ltd.|
|Number of Pages:||16|
|Page Range:||pp. 373-388|
|Access rights to Published version:||Restricted or Subscription Access|
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