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Improving roll stability of articulated heavy vehicles using active semi-trailer steering
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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. doi:10.1080/00423110801958576 ISSN 0042-3114.
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Official URL: http://dx.doi.org/10.1080/00423110801958576
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 | ||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics |
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| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||
| Journal or Publication Title: | Vehicle System Dynamics | ||||
| Publisher: | Taylor & Francis Ltd. | ||||
| ISSN: | 0042-3114 | ||||
| Official Date: | 2008 | ||||
| Dates: |
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| Volume: | Vol.46 | ||||
| Number: | Suppl.1 | ||||
| Number of Pages: | 16 | ||||
| Page Range: | pp. 373-388 | ||||
| DOI: | 10.1080/00423110801958576 | ||||
| Status: | Peer Reviewed | ||||
| Publication Status: | Published | ||||
| Access rights to Published version: | Restricted or Subscription Access |
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