Virtual steering limitations for reversing an articulated vehicle with off-axle passive trailers

2009 ◽  
Author(s):  
Jesus Morales ◽  
Jorge L. Martinez ◽  
Anthony Mandow ◽  
Itza J. Medina
Keyword(s):  
Articulated Vehicle

scholarly journals Dynamic analysis of steering system of the articulated vehicle in the heeled status

2011 ◽  
Vol 16 ◽  
pp. 540-545 ◽  
Author(s):  
Zhiguo Zhao ◽  
Chuansheng Si
Keyword(s):  
Dynamic Analysis ◽  
Steering System ◽  
Articulated Vehicle

Truck Suspension Design to Minimize Road Damage

1996 ◽  
Vol 210 (2) ◽  
pp. 95-107 ◽  
Author(s):  
D J Cole ◽  
D Cebon
Keyword(s):  
Three Dimensional ◽  
Fourth Power ◽  
Vehicle Model ◽  
Efficient Procedure ◽  
Suspension Parameters ◽  
Articulated Vehicle ◽  
Suspension Stiffness ◽  
Optimal Values ◽  
Dynamic Components ◽  
Stiffness And Damping

The objective of the work described in this paper is to establish guidelines for the design of passive suspensions that cause minimum road damage. An efficient procedure for calculating a realistic measure of road damage (the 95th percentile aggregate fourth power force) in the frequency domain is derived. Simple models of truck vibration are then used to examine the influence of suspension parameters on this road damage criterion and to select optimal values. It is found that to minimize road damage a suspension should have stiffness about one fifth of current air suspensions and damping up to twice that typically provided. The use of an anti-roll bar allows a high roll-over threshold without increasing road damage. It is thought that optimization in the pitch-plane should exclude correlation between the axles, to ensure that the optimized suspension parameters are robust to payload and speed changes. A three-dimensional ‘whole-vehicle’ model of an air suspended articulated vehicle is validated against measured tyre force histories. Optimizing the suspension stiffness and damping results in a 5.8 per cent reduction in road damage by the whole vehicle (averaged over three speeds). This compares with a 40 per cent reduction if the dynamic components of the tyre forces are eliminated completely.

Articulated Vehicle Yaw Stability During Braking – A Parametric Study

2004 ◽  
Author(s):  
Kristopher J. Seluga ◽  
Richard M. Obert ◽  
Irving U. Ojalvo
Keyword(s):  
Parametric Study ◽  
Articulated Vehicle ◽  
Yaw Stability

Relative navigation control of articulated vehicle based on LTV-MPC

2021 ◽  
Vol 28 (1) ◽  
pp. 34
Author(s):  
Li Liu ◽  
Yu Meng ◽  
Weidong Luo ◽  
Qing Gu ◽  
Guoxing Bai
Keyword(s):  
Relative Navigation ◽  
Articulated Vehicle ◽  
Navigation Control

An adaptive sliding mode controller for the lateral control of articulated long vehicles

2018 ◽  
Vol 233 (3) ◽  
pp. 487-515 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lane Change ◽  
Lateral Velocity ◽  
Low Speed ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Articulated Vehicle ◽  
The Stability

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

scholarly journals Method of controlling innovative articulation for articulated vehicle

2018 ◽  
Vol 157 ◽  
pp. 04005 ◽  
Author(s):  
Mateusz Szumilas ◽  
Sergiusz Łuczak ◽  
Maciej Bodnicki ◽  
Marcin Stożek ◽  
Tomasz Załuski
Keyword(s):  
Control Algorithm ◽  
Diagnostic System ◽  
Lane Change ◽  
Sensor Layer ◽  
Motion Stability ◽  
Labview Software ◽  
Articulated Vehicle ◽  
Vehicle Motion ◽  
Action Taking

Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

Improvement in the rollover stability of a liquid-carrying articulated vehicle via a new robust controller

2016 ◽  
Vol 231 (3) ◽  
pp. 322-346 ◽  
Author(s):  
Mohammad Amin Saeedi ◽  
Reza Kazemi ◽  
Shahram Azadi
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Dynamic Model ◽  
Sliding Mode ◽  
Degree Of Freedom ◽  
Roll Control ◽  
Mode Control ◽  
Active Steering ◽  
Articulated Vehicle ◽  
Active Roll Control

In this paper, in order to improve the roll stability of an articulated vehicle carrying a liquid, an active roll control system is utilized by employing two different control methods. First, a 16-degree-of-freedom non-linear dynamic model of an articulated vehicle is developed. Next, the dynamic interaction of the liquid cargo with the vehicle is investigated by integrating a quasi-dynamic liquid sloshing model with a tractor–semitrailer model. Initially, to improve the lateral dynamic stability of the vehicle, an active roll control system is developed using classical integral sliding-mode control. The active anti-roll bar is employed as an actuator to generate the roll moment. Next, in order to verify the classical sliding-mode control performance and to eliminate its chattering, the backstepping method and the sliding-mode control method are combined. Subsequently, backstepping sliding-mode control as a new robust control is implemented. Moreover, in order to prevent both yaw instability and jackknifing, an active steering control system is designed on the basis of a simplified three-degree-of-freedom dynamic model of an articulated vehicle carrying a liquid. In the introduced system, the yaw rate of the tractor, the lateral velocity of the tractor and the articulation angle are considered as the three state variables which are targeted in order to track their desired values. The simulation results show that the combined proposed roll control system is more successful in achieving target control and reducing the lateral load transfer ratio than is classical sliding-mode control. A more detailed investigation confirms that the designed active steering system improves both the lateral stability of the vehicle and its handling, in particular during a severe lane-change manoeuvre in which considerable instability occurs.

scholarly journals A Study of the Dynamic Parameters Influence over the Behavior of the Two-Section Articulated Vehicle during the Lane Change Manoeuvre

2016 ◽  
Vol 11 (1) ◽  
pp. 29-40 ◽  
Author(s):  
Rusi Rusev ◽  
Rosen Ivanov ◽  
Gergana Staneva ◽  
Georgi Kadikyanov
Keyword(s):  
Lane Change ◽  
Dynamic Parameters ◽  
Articulated Vehicle

Rollover Warning of Articulated Vehicles Based on a Time-To-Rollover Metric

1999 ◽  
Author(s):  
Bo-Chiuan Chen ◽  
Huei Peng
Keyword(s):  
Real Time ◽  
The Other ◽  
Roll Angle ◽  
Vehicle Speed ◽  
Time Model ◽  
Whole Process ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
The One ◽  
Accuracy Problem

Abstract A Time-To-Rollover (TTR) metric is proposed as the basis to assess rollover threat for an articulated vehicle. Ideally, a TTR metric will accurately “count-down” toward rollover regardless of vehicle speed and steering patterns, so that the level of rollover threat is accurately indicated. To implement TTR in real-time, there are two conflicting requirements. On the one hand, a faster-than-real-time model is needed. On the other hand, the TTR predicted by this model needs to be accurate enough under all driving scenarios. An innovative approach is proposed in this paper to solve this dilemma and the whole process is illustrated in a design example. First, a simple yet reasonably accurate yaw/roll model is identified. A Neural Network (NN) is then developed to mitigate the accuracy problem of this simplified real-time model. The NN takes the TTR generated by the simplified model, vehicle roll angle and change of roll angle to generate an enhanced NN-TTR index. The NN was trained and verified under a variety of driving patterns. It was found that an accurate TTR is achievable across all the driving scenarios we tested.

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