Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control...

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Bibliographic Details
Published in:Nonlinear engineering 2019-01, Vol.8 (1), p.568-581
Main Authors: Milani, Sina, Samim Ünlüsoy, Y., Marzbani, Hormoz, Jazar, Reza N.
Format: Article
Language:English
Subjects:
Active control
Active Steering
Algorithms
Articulated Vehicle
Bicycles
Computer simulation
Control algorithms
Control stability
Control systems design
Dynamic characteristics
Feedback control
Heavy vehicles
Linear quadratic regulator
Low speed
Maneuverability
Optimal Control
Particle swarm optimization
Rearward amplification
State feedback
Steering
Tracking errors
Tractor trailers
Tractor-Semitrailer
Vehicle Safety
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Summary:Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control of the semitrailer on manoeuvrability and stability of tractor-semitrailer combinations is investigated. A linear bicycle model and a nonlinear version are used for controller design and vehicle dynamic simulation in MATLAB environment. The Linear Quadratic Regulator optimal state feedback control is used to minimise the tracking error at low-speed, and regulate Rearward Amplification ratio and roll at high-speed. Quantum Particle Swarm Optimisation is used for optimising the weighting factors. Three different control algorithms are introduced and it is demonstrated through simulations that the vehicle with the proposed steering control exhibits desirable improvements compared to the baseline vehicle.
ISSN:2192-8010
2192-8029
DOI:10.1515/nleng-2018-0124