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

The objective of this paper is to compare and study the performance of different steering con guration 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 con gurations 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 signi cant e ects of the active dolly steering on improving lateral stability and performance at high speeds. The effectiveness of approaches are demonstrated using a high- delity vehicle model. The simulation results indicate that the FAS and DAS con gurations are preferable compared to the RAS con guration at high speeds.

LMI based H infinity synthesis

lateral control

Rearward ampli cation

active dolly steering con gurations.

Static output feedback

Författare

Maliheh Sadeghi Kati

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Bengt J H Jacobson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Leo Laine

Chalmers, Mekanik och maritima vetenskaper

Volvo Group

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

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Reglerteknik

Signalbehandling

Mer information

Skapat

2018-09-15