Computationally Efficient Nonlinear One-and Two-Track Models for Multitrailer Road Vehicles
Journal article, 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 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 code provided 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

single-track nonlinear model

vehicle dynamics

two-track nonlinear model

articulated vehicles

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 Group

Leo Laine

Chalmers, Mechanics and Maritime Sciences

Volvo Group

Niklas Fröjd

Volvo Group

IEEE Access

2169-3536 (ISSN)

Vol. 8 203854-203875

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Driving Forces

Sustainable development

Innovation and entrepreneurship

Areas of Advance

Transport

Energy

Subject Categories

Computational Mathematics

Vehicle Engineering

Control Engineering

Roots

Basic sciences

Learning and teaching

Pedagogical work

DOI

10.1109/ACCESS.2020.3037035

More information

Latest update

4/15/2021