Hardware-in-the-loop (HIL) simulation in the development and test process of vehicle dynamics controllers requires a real-time tractor-trailer simulation model. The hitch coupling must be numerically stable to ensure real-time simulation for various driving maneuvers, particularly at the vehicle's handling limits. This paper presents a robust implementation of tractor-trailer coupling. The equation of motion is formed using a novel formulation which is a combination of Jourdain's Principle and the Articulated Body Algorithm. The paper shows that a robust model for a real-time tractor-trailer simulation can be achieved with the proposed method. Moreover, the approach presented is suitable for modular modeling, is successfully implemented and can also be used as a basis for flexible system definition with an adjustable number of trailer axles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modular Multibody Approach for Real-Time Simulation of Vehicle-Trailer Combinations


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2010 World Congress & Exhibition ; 2010



    Publication date :

    2010-04-12




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Simulation of vehicle-trailer combinations by real-time capable DAE solvers

    Esterl,B. / Butz,T. / Tesis Dynaware,DE | Automotive engineering | 2006


    Simulation of Vehicle-Trailer Combinations by Real-Time Capable DAE Solvers

    Esterl, Benjamin / Butz, Torsten | SAE Technical Papers | 2006


    2006-01-0802 Simulation of Vehicle-Trailer Combinations by Real-Time Capable DAE Solvers

    Esterl, B. / Butz, T. / Society of Automotive Engineers | British Library Conference Proceedings | 2006


    Tractor/trailer combinations

    FANOURAKIS ANGELO / MASON BACHRUN / HILL MATTHEW | European Patent Office | 2015

    Free access

    Tractor-Trailer Combinations

    Y. Sorochan | NTIS | 1972