In this paper, the investigation of snaking oscillations of a vehicle-trailer combination is documented. Analytical modeling, simulation, and road testing were used to study dynamic response as it is affected by various speed and loading conditions. Furthermore, a brief analysis of control methods for suppressing the oscillation using only brake actuators and sensors from the towing vehicle ESC system is presented. Results of the experimentation performed give rise to the following conclusions: 1. The analytical model provides good description of dynamic behavior of the vehicle-trailer combination; it can be used to accurately predict the onset of snaking oscillations and to study the effects of system parameters on stability. 2. The test trailer proved to be an effective tool at creating the desired testing scenarios. a. Dynamic behavior of the trailer can be significantly altered without adding more weight. b. Instability could be induced at low speeds which promotes a safe testing environment. 3. Results of the experiments performed on the road conform to those learned through analytical modeling and simulation. 4. The trailer's center of gravity location relative to its resultant axle load location is a critical factor in trailer stability. a. Small variations in CG location fore or aft of the resultant tire normal load have significant effects on achievable speed and stability levels. b. In the cases shown here, trailer stability appears to be more dependent on CG location than on trailer tire cornering stiffness. 5. Control strategy involving direct yaw moment via asymmetric braking of towing vehicle is more effective in stabilizing the snaking oscillations than symmetric braking. a. Direct yaw moment control can damp oscillations without significant reduction in speed b. Symmetric braking can also stabilize the system, but it has negative second-order effects on system stability and requires large reduction in vehicle speed, significantly below the critical speed, to utilize natural damping in the system.
Stability and control considerations of vehicle-trailer combination
Stabilität und Steuerungsbetrachtungen einer Fahrzeug-Anhänger-Kombination
2008
13 Seiten, 16 Bilder, 1 Tabelle, 14 Quellen
Aufsatz (Konferenz)
Englisch
Stability and Control Considerations of Vehicle-Trailer Combination
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