A high-speed optimal trailer steering controller for a tractor-semitrailer is discussed. A linear model of a tractor-semitrailer with steered trailer axles is described, and an optimal trailer steering controller is introduced. A path-following controller is derived to minimise the path-tracking error in steadystate manoeuvres using active trailer steering. A roll stability controller is introduced by adding the lateral acceleration of trailer centre of gravity as another objective in the steering controller, so as to improve roll stability in transient manoeuvres. A strategy to switch between these two control modes is demonstrated. Simulation results show that the steering controller can ensure good path tracking of articulated vehicles in steady-state manoeuvres and improve roll stability significantly in transient manoeuvres, while maintaining the path-tracking deviation within an acceptable range. Tests with an experimental tractor-semitrailer equipped with a high-bandwidth active steering system validate the controller design and simulation results. The roll stability controller reduces the measured rearward amplification by 27%.


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    Titel :

    High-speed optimal steering of a tractor-semitrailer


    Weitere Titelangaben:

    Optimale Lenkung eines Sattelschleppers mit Auflieger für hohe Fahrgeschwindigkeiten


    Beteiligte:
    Cheng, Caizhe (Autor:in) / Roebuck, Richard (Autor:in) / Odhams, Andrew (Autor:in) / Cebon, David (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 49 , 4-6 ; 561-593


    Erscheinungsdatum :

    2011


    Format / Umfang :

    33 Seiten, 25 Bilder, 2 Tabellen, 27 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    High-speed optimal steering of a tractor–semitrailer

    Cheng, Caizhen / Roebuck, Richard / Odhams, Andrew et al. | Taylor & Francis Verlag | 2011


    High-speed optimal steering of a tractor-semitrailer

    Cheng, Caizhen | Online Contents | 2011


    High-speed optimal steering of a tractor-semitrailer

    Cheng,C. / Roebuck,R. / Odhams,A. et al. | Kraftfahrwesen | 2011


    Self-Steering Behaviour of High-Speed Tractor-Semitrailer and Its Control

    Palkovics, L. / Ilosvai, L. / Illes, J. et al. | British Library Conference Proceedings | 1993


    SELF-STEERING BEHAVIOUR OF HIGH-SPEED TRACTOR-SEMITRAILER AND ITS CONTROL

    ILLÉS, János / PALKOVICS, László / ILOSVAI, Lajos | BASE | 1993

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