Computationally Efficient Nonlinear One-and Two-Track Models for Multitrailer Road Vehicles
Artikel i vetenskaplig tidskrift, 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

Författare

Toheed Ghandriz

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Bengt J H Jacobson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Peter Nilsson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Volvo Group

Leo Laine

Chalmers, Mekanik och maritima vetenskaper

Volvo Group

Niklas Fröjd

Volvo Group

IEEE Access

2169-3536 (ISSN)

Vol. 8 203854-203875

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Drivkrafter

Hållbar utveckling

Innovation och entreprenörskap

Styrkeområden

Transport

Energi

Ämneskategorier

Beräkningsmatematik

Farkostteknik

Reglerteknik

Fundament

Grundläggande vetenskaper

Lärande och undervisning

Pedagogiskt arbete

DOI

10.1109/ACCESS.2020.3037035

Mer information

Senast uppdaterat

2021-04-15