A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.
Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 11, 2013; final manuscript received October 21, 2013; published online December 16, 2013. Assoc. Editor: Shankar Coimbatore Subramanian.
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Roebuck, R., Odhams, A., Tagesson, K., Cheng, C., and Cebon, D. (December 16, 2013). "Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 021016. https://doi.org/10.1115/1.4025815
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