Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles

Paper in proceeding, 2014

A linear single-track model for articulated vehicles has been implemented. The model can represent an articulated vehicle with an arbitrary number of units each with an arbitrary number of axles. Lateral and yaw dynamics are in focus but longitudinal effects in couplings are also included. In the model, tire forces are linear with respect to slip angle. The couplings between units are represented as non-linear kinematic constraints which are valid for small and large articulation angles. Four use cases are presented: Inverse dynamics for feedforward control, frequency responses when varying parameters, steady-state evaluations and dynamic simulation. For these use cases, four parametrizations of the model are used corresponding to a tractor with a semitrailer a truck with a dolly and a semitrailer, an Adouble (tractor+semitrailer+dolly+semitrailer) and an approximate version of an airport baggage carrier with five full trailers.