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 0042-3114

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Abstract

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.
ISSN:	0042-3114
Date:	2008
Volume:	Vol.46
Number:	Suppl.1
Number of Pages:	16
Page Range:	pp. 373-388
Identification Number:	10.1080/00423110801958576
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access
URI:	http://wrap.warwick.ac.uk/id/eprint/45898

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