LATERAL CONTROL OF AN A-DOUBLE COMBINATION VEHICLE CONSIDERING DIFFERENT MEASUREMENT SIGNALS AND DOLLY STEERING CONFIGURATIONS
Paper in proceedings, 2018

The objective of this paper is to compare and study the performance of different steering configuration of an active dolly which is employed in an A-double combination vehicle (tractor-semitrailer-dolly-semitrailer) to enhance high speed stability and performance of the vehicle. Three dolly steering configurations are considered to be investigated; the front axle steering (FAS), rear axle steering (RAS) and double axle steering (DAS). A static output feedback control synthesis is used based on linear matrix inequality (LMI) and H1 control. The simulation results show significant effects of the active dolly steering on improving lateral stability and performance at high speeds. The effectiveness of approaches are demonstrated using a high-fidelity vehicle model. The simulation results indicate that the FAS and DAS configurations are preferable compared to the RAS configuration at high speeds.

active dolly steering configurations

rearward amplification

Static output feedback

LMI based H infinity synthesis

lateral control

Author

Maliheh Sadeghi Kati

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Bengt J H Jacobson

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Leo Laine

Chalmers, Mechanics and Maritime Sciences

Volvo Group

International Symposium on Heavy Vehicle Transport Technology, HVVT15
Rotterdam, Netherlands,

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Control Engineering

Signal Processing

More information

Latest update

11/30/2018