A new active steering controller was developed for articulated heavy goods vehicles. It was designed to achieve 'perfect' path-following under all conditions. An experimental triaxle trailer, with three actively-steered axles was built and used to compare the performance of the new controller with a passive 'command steer' steering strategy, and a conventional trailer with fixed axles. A novel system of digital cameras was used to measure the line following performance of the vehicle. The path-following control strategy showed reductions of cut-in (79 %), tail swing (100 %), exit settling distance (97 %) and lateral tyre force (83 %) relative to the unsteered case, and 48 %, 100 %, 93 %, and 64 % respectively relative to the command steer case. The 'path-following' steering controller derived in this project aims to make the rear of the trailer ('follow point') follow the path defined by the fifth wheel ('lead point') in a similar way to Notsu et al's 'coupling point path following' controller, but it achieves this at all speeds.


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    Title :

    Implementation of active rear steering of a tractor - semi-trailer


    Contributors:


    Publication date :

    2008


    Size :

    14 Seiten, 5 Bilder, 1 Tabelle, 15 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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