Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds-Reference-Cited by-同舟云学术

Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds

Published:2013-12-16 Issue:2 Volume:136 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Roebuck Richard¹,Odhams Andrew¹,Tagesson Kristoffer²,Cheng Caizhen¹,Cebon David³

Affiliation:

1. Cambridge University Engineering Department, Trumpington Street, Cambridge CB2 1PZ, UK

2. Volvo Group Trucks Technology, Dept BF72991, AB4S, Göteborg SE-405 08, Sweden

3. Cambridge University Engineering Department, Trumpington Street, Cambridge CB2 1PZ, UK e-mail:

Abstract

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4025815/6117038/ds_136_02_021016.pdf

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