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 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

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

Senast uppdaterat

2018-11-30