This paper discusses an optimal linear quadratic control algorithm to improve the roll stability of a tractor semi-trailer using active semi-trailer steering. The controller minimises a combination of the path-tracking deviation of the trailer rear end relative to the path of the hitch point (5th wheel) and the lateral acceleration of trailer centre of gravity (CoG). First a linear vehicle model of tractor semi-trailer is constructed. Then a ‘virtual driver’ model for trailer steering control is introduced to minimise the path-tracking deviation of trailer rear end. The lateral acceleration of trailer CoG is included as a second objective of the optimal controller so as to improve roll stability. A Kalman filter with linear vehicle model is used to estimate unknown vehicle states, needed by the controller. Simulation results show that optimal control of semi-trailer steering could improve the roll stability significantly during transient manoeuvres while keeping the path-tracking deviation of trailer rear end within an acceptable range.


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    Title :

    Improving roll stability of articulated heavy vehicles using active semi-trailer steering


    Contributors:
    Cheng, C. (author) / Cebon, D. (author)

    Published in:

    Vehicle System Dynamics ; 46 , sup1 ; 373-388


    Publication date :

    2008-09-01


    Size :

    16 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Improving roll stability of articulated heavy vehicles using active semi-trailer steering

    Cheng,C. / Cebon,D. / Univ.of Cambridge,GB | Automotive engineering | 2008




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