An optimal preview controller is designed for active trailer steering (ATS) systems to improve high-speed stability of articulated heavy vehicles (AHVs). AHVs' unstable motion modes, including jack-knifing and rollover, are the leading course of highway accidents. To prevent these unstable motion modes, the optimal controller, namely the compound lateral position deviation preview (CLPDP) controller, is proposed to control the steering of the front and rear axle wheels of the trailing unit of a truck/full-trailer combination. The corrective steering angle of the trailer front axle wheels is determined using the preview information of the lateral position deviation of the trajectory of the axle center from that of the truck front axle center. In turn, the steering angle of the trailer rear axle wheels is calculated considering the lateral position deviation of the trajectory of the axle center from that of the trailer front axle. To evaluate the vehicle performance measure, a driver model is introduced and it ‘derives’ the vehicle model based on well-defined testing specifications. The linear quadratic regular (LQR) technique is applied to the design of the proposed preview control scheme in the continuous time domain. The numerical simulation results show that compared with the baseline vehicle, the dynamic performance of the AHV with the ATS system is improved by decreasing rearward amplification ratio from the baseline value of 1.57 to 0.83 and reducing transient off-tracking by 80.6%.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Optimal Preview Controller for Active Trailer Steering Systems of Articulated Heavy Vehicles


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2011 World Congress & Exhibition ; 2011



    Publication date :

    2011-04-12




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    An optimal preview controller for active trailer steering systems of articulated heavy vehicles

    Islam,M.M. / He,Y. / Univ.of Ontario,CA | Automotive engineering | 2011


    2011-01-0983 An Optimal Preview Controller for Active Trailer Steering Systems of Articulated Heavy Vehicles

    Islam, M.M. / He, Y. / Society of Automotive Engineers | British Library Conference Proceedings | 2011


    An integrated design method for articulated heavy vehicles with active trailer steering systems

    He,Y. / Islam,M.M. / Webster,T.D. et al. | Automotive engineering | 2010


    Model Reference Adaptive Control for Active Trailer Steering of Articulated Heavy Vehicles

    Wang, Qiushi / Zhu, Shenjin / He, Yuping | British Library Conference Proceedings | 2015