We examine several control strategies to minimise off-tracking of a multi-axle steering system with a tractor and three full trailers, described by a linear yaw-plane model. Given any arbitrary tractor track desired real-time by the driver, control inputs are the steering angles of front axles of the trailers. A minimum Rearward Amplification Ratio (RWA), as a surrogate for minimum off-tracking, is used as the control criterion to arrive at an optimal LQR controller, which is remarkably robust to tyre-parameter variations. Actively steering trailers 1 and 2 is most cost-effective in achieving acceptable levels of RWA, with off-tracking practically eliminated.
Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following
Aktive Anhänger-Lenkung eines Gliedersystems mit einer Zugmaschine und drei nachlaufenden Vollanhängern
International Journal of Heavy Vehicle Systems (IJHVS) (Internet) ; 14 , 3 ; 271-293
2007
23 Seiten, 8 Bilder, 3 Tabellen, 10 Quellen
Article (Journal)
English
Anwendung im Fahrzeugbau , Lenksteuerung , Anhänger (Fahrzeug) , linearquadratische Regelung , LQR-Regler , Zugmaschine , aktive Steuerung und Regelung , Nachlaufregelung , Fahrverhalten , Fahrzeugsicherheit , Regelungsstrategie , Lenksystem , theoretisches Modell , robuster Regler , Anhängerachse , Fahrzeuglenkung
Automotive engineering | 2007
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