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Robustness analysis of a steering-based control strategy for improved lateral performance of a truck-dolly-semitrailer

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)
International Journal of Heavy Vehicle Systems (1744-232X). Vol. 22 (2015), 1, p. 1-20.
[Artikel, refereegranskad vetenskaplig]

A control strategy for lateral performance improvement of a truck-dolly-semitrailer combination by active steering of the towed units is presented. The effectiveness and robustness of the controller are verified by extensive analysis of the controller performance in various driving conditions at high speeds and presence of uncertainties in vehicle parameters, such as tyre cornering stiffness and moment of inertia. It is shown that the controller reduces the yaw rate rearward amplification, offtracking and side slip angle significantly. It is also demonstrated that brake interventions by other controlling systems such as electronic stability control do not deteriorate the controller performance.

Nyckelord: Active steering , Heavy vehicle combination , Lateral performance , Offtracking , Truck-dolly-semitrailer , Yaw rate rearward amplification

Denna post skapades 2015-07-28. Senast ändrad 2016-09-23.
CPL Pubid: 220018


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Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system (2010-2017)
Institutionen för signaler och system, Mekatronik (2005-2017)



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