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A generic controller for improving lateral performance of heavy vehicle combinations

Sogol Kharrazi (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Mathias Lidberg (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering (0954-4070). Vol. 227 (2012), D5, p. 619-642.
[Artikel, refereegranskad vetenskaplig]

A generic controller for improving the lateral performance of heavy vehicle combinations by steering the axles of the towed units is proposed. The lateral performance of nine heavy vehicle combinations, including conventional combinations and existing and prospective longer combinations, are studied with and without the controller. The performance of the passive vehicles clearly indicates a need for improvements, which can be achieved by the proposed controller. The results obtained for controller verification in the frequency and time domains demonstrate that the controller reduces the yaw rate rearward amplification and off-tracking of all studied vehicles significantly, and diminishes trailer swings without reducing manoeuvrability. Furthermore, as a by-product, it moderately reduces the lateral acceleration rearward amplification. The improvements obtained by the proposed controller can promote the use of longer combination vehicles in traffic, which will result in a reduction of congestion, as well as substantial environmental and economic benefits.

Nyckelord: Longer combination vehicle; lateral performance; generic controller; active steering; rearward amplification; off-tracking; yaw damping ratio; trailer swing; frequency response

Denna post skapades 2012-12-22. Senast ändrad 2014-09-17.
CPL Pubid: 168585


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