A generic controller for improving lateral performance of heavy vehicle combinations
Journal article, 2012

A generic controller for improving the lateral performance of heavy vehicle combinations by steering the axles of the towed units is proposed. The lateral performance of nine heavy vehicle combinations, including conventional combinations and existing and prospective longer combinations, are studied with and without the controller. The performance of the passive vehicles clearly indicates a need for improvements, which can be achieved by the proposed controller. The results obtained for controller verification in the frequency and time domains demonstrate that the controller reduces the yaw rate rearward amplification and off-tracking of all studied vehicles significantly, and diminishes trailer swings without reducing manoeuvrability. Furthermore, as a by-product, it moderately reduces the lateral acceleration rearward amplification. The improvements obtained by the proposed controller can promote the use of longer combination vehicles in traffic, which will result in a reduction of congestion, as well as substantial environmental and economic benefits.

yaw damping ratio

off-tracking

trailer swing

Longer combination vehicle

lateral performance

frequency response

active steering

rearward amplification

generic controller

Author

Sogol Kharrazi

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Mathias R Lidberg

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

0954-4070 (ISSN)

Vol. 227 D5 619-642

Subject Categories

Mechanical Engineering

DOI

10.1177/0954407012454616

More information

Created

10/7/2017