期刊
VEHICLE SYSTEM DYNAMICS
卷 46, 期 -, 页码 373-388出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423110801958576
关键词
active trailer steering; virtual driver steering; path following; roll stability
资金
- EPSRC [EP/D004152/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [EP/D004152/1] Funding Source: researchfish
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 all acceptable range.
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