Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

Nonlinear engineering: Modeling and application

article

Sina Milani¹  Y. Samim Ünlüsoy²  Hormoz Marzbani¹  Reza N. Jazar¹ 

[1] School of Engineering, RMIT University;Mechanical Engineering Department, Middle East Technical University;School of Civil Engineering and Architecture, Xiamen University of Technology

关键词: Articulated Vehicle;    Tractor-Semitrailer;    Active Steering;    Optimal Control;    Vehicle Safety;   

DOI  :  10.1515/nleng-2018-0124

来源: De Gruyter

【 摘 要 】

Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control of the semitrailer on manoeuvrability and stability of tractor-semitrailer combinations is investigated. A linear bicycle model and a nonlinear version are used for controller design and vehicle dynamic simulation in MATLAB environment. The Linear Quadratic Regulator optimal state feedback control is used to minimise the tracking error at low-speed, and regulate Rearward Amplification ratio and roll at high-speed. Quantum Particle Swarm Optimisation is used for optimising the weighting factors. Three different control algorithms are introduced and it is demonstrated through simulations that the vehicle with the proposed steering control exhibits desirable improvements compared to the baseline vehicle.

【 授权许可】

Unknown