In this research the design of an articulated vehicle jackknife prevention scheme based on differential braking was investigated. The control objective of the differential braking was to track the desired fifth wheel angle under different semi-trailer loading conditions. To address the effects due to the loading variations, a MRAC design was employed. The stability of the adaptation system was shown using the Lyapunov stability theorem and the Kalman- Yakubovich lemma. Computer simulations on the designed MRAC system indicate that it can effectively reduce the fifth wheel angle of the articulated vehicle in a constant-speed turning maneouvre using differential braking. Furthermore, the model matching performance of the MRAC controller under different loading conditions was verified using computer simulations. A scale model was constructed to provide an experimental platform for MRAC evaluation. To ensure that the scale model and a full-sized vehicle had similar dynamic characteristics, a dimensional analysis based on the Buckingham-II theorem was performed. The simulation results obtained for the scale model were compared with the experimental results to verify its validity. The MRAC differential braking controller was implemented on an embedded computer to control the differential braking force. From the experiments it was observed that the differential braking control could reduce the fifth wheel angle as expected, thus supporting the concept of using differential braking to prevent vehicle jackknifing. Furthermore, the experiments performed under different loading conditions indicated that the MRAC controller can improve the fifth wheel angle response despite variations in the loading. The reduction in the fifth wheel angle amplitude in a braking while turning manoeouvre was shown to be significant. These results show that MRAC is potentially an effective technique to handle the parametric variations associated with articulated vehicles, and the variations can be extended to the uncertainty due to other sources, e.g. tyre pressure, height of the CG, etc. Future research directions include addressing the determination of the braking force threshold in a more systematic way, and investigating the integration the jackknife prevention control with other active safety systems.


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    Title :

    Jackknife prevention for articulated vehicles using model reference adaptive control


    Contributors:
    Chen, L.K. (author) / Shieh, Y.A. (author)


    Publication date :

    2011


    Size :

    14 Seiten, 16 Bilder, 2 Tabellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Jackknife prevention for articulated vehicles using model reference adaptive control

    Chen,L.K. / Shieh,Y.A. / National Taiwan Univ.of Science a.Technol.,TW | Automotive engineering | 2011




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