Computationally Efficient Nonlinear One- and Two-Track Models for Multitrailer Road Vehicles
Preprint, 2020

This paper presents nonlinear mathematical models of one- and two-track multitrailer vehicles. We derive nonlinear equations of motion in the form of a system of implicit ordinary differential equations (ODEs) by using Lagrangian mechanics. The system of ODEs has the minimum number of states and equations that enables efficient computations yet maintains the most important nonlinear vehicle dynamic behavior and allows actuator coordination and energy consumption evaluation. As examples, we build different models of a 4-unit long combination vehicle, i.e., two-track 11-axle and single-track 6-axle nonlinear models as well as a linear single-track 6-axle model. We compare the performance of these models to experimental data of different driving maneuvers. The nonlinear single-track model demonstrates a close dynamic behavior to the experiment, which makes it an efficient alternative to the two-track model. The vehicle equations can be generated automatically by using the provided code in this paper and subsequently used for conducting frequency analysis, evaluating energy consumption, deriving performance measures from simulations, and facilitating optimal control applications that involve combined steering, braking and propulsion control.

multitrailer vehicles

long combination vehicles

two-track nonlinear model

single-track nonlinear model

articulated vehicles

vehicle dynamics

single-track linear

Author

Toheed Ghandriz

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

Bengt J H Jacobson

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

Peter Nilsson

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

Volvo Autonomous Solutions

Leo Laine

Volvo Group

Chalmers, Mechanics and Maritime Sciences

Optimal Distributed Propulsion

Swedish Energy Agency, 2015-10-01 -- 2019-12-31.

VINNOVA, 2015-10-01 -- 2019-12-31.

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Applied Mechanics

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Control Engineering

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9/1/2020 1