The Influence of Steered Axles on the Stability and Followability of Articulated Vehicle System

1998 ◽  
Author(s):  
Stan A. Lukowski ◽  
Daryl Logan ◽  
Ludwik A. Medeksza
Keyword(s):  
Vehicle System ◽  
Articulated Vehicle ◽  
The Stability

Lateral Dynamics and Stability of Two Full Vehicles in Tandem

1998 ◽  
Vol 120 (1) ◽  
pp. 50-56 ◽  
Author(s):  
N. A. El-Esnawy ◽  
J. F. Wilson
Keyword(s):  
Nonlinear Differential Equations ◽  
Equations Of Motion ◽  
Mean Square ◽  
Critical System ◽  
Lateral Dynamics ◽  
System Parameters ◽  
Vehicle System ◽  
Articulated Vehicle ◽  
The Stability ◽  
Oscillatory Instabilities

The lateral dynamics and stability of two full vehicles in tandem are investigated. The nonlinear differential equations of motion of this four-axle articulated vehicle system are presented in matrix form and then linearized. The critical forward velocity of the steady state for oversteering conditions is derived in a closed form, and the criteria for understeer, neutral steer, or oversteer are given. Uncertainty of the critical forward velocity and its sensitivity to errors in the system parameters are evaluated using the root mean square method. Conditions for nonoscillatory and oscillatory instabilities of the linearized vehicle system are given. Effects of the critical system parameters (mainly the mass distribution) on the stability are investigated.

An adaptive sliding mode controller for the lateral control of articulated long vehicles

2018 ◽  
Vol 233 (3) ◽  
pp. 487-515 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lane Change ◽  
Lateral Velocity ◽  
Low Speed ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Articulated Vehicle ◽  
The Stability

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

The Vehicles ESP Test System Based on Active Braking Control

2012 ◽  
Vol 588-589 ◽  
pp. 1552-1559
Author(s):  
Lu Zhang ◽  
Guo Ye Wang ◽  
Guo Yan Chen ◽  
Zhong Fu Zhang
Keyword(s):  
Control System ◽  
Test System ◽  
Stability Control ◽  
Control Test ◽  
Control Performance ◽  
Vehicle System ◽  
Braking Control ◽  
Set Up ◽  
The Stability ◽  
Driving Stability

This paper proposes an active braking control dynamical system in order to establish a safe and efficient vehicle driving stability control test system. Aiming at Chery A3 sedan, set up the active braking control dynamic simulation system base on MATLAB/Simulink. Adopting the brake driving integration ESP control strategy, analyze and verify the stability control performance of independent vehicle system and vehicle ESP test system based on active braking control respectively in under steering and excessive steering two test conditions. The analyzing results indicate that the test system based on active braking control can effectively assist vehicle travelling in the absence of ESP control or ESP control system failure; when vehicle has ESP control system, the driving stability control performance of this system and independent vehicle system has remarkable consistency. The active braking control system provides a basis for research of vehicle driving stability control test.

Steady Turning Stability of Partially Filled Tank Vehicles With Arbitrary Tank Geometry

1989 ◽  
Vol 111 (3) ◽  
pp. 481-489 ◽  
Author(s):  
R. Ranganathan ◽  
S. Rakheja ◽  
S. Sankar
Keyword(s):  
Cross Sections ◽  
Optimal Order ◽  
Fluid Structure Interactions ◽  
Plane Model ◽  
Articulated Vehicle ◽  
Turning Response ◽  
The Stability ◽  
Fill Level ◽  
Tank Geometry ◽  
Tank Vehicles

Steady turning model of a partially filled tank vehicle is developed by integrating the roll plane model of the partially filled arbitrarily shaped tank with the static roll plane model of an articulated vehicle. The rollover immunity of the tank vehicle is investigated through computer simulation. The motion of the free surface of liquid and the associated load shift encountered during steady turning are computed using an iterative algorithm. The influence of tank geometry and liquid fill level on the rollover immunity of the tank vehicles is presented. Rollover threshold levels of a tractor-semitrailer vehicle with tanks of circular, modified square and modified oval cross sections are investigated for various fill levels. The influence of compartmenting of the tank on the steady turning response of the vehicle is presented and an optimal order of unloading the various compartments is determined. The study concludes that load shift encountered during steady turning has an adverse effect on the overturning limits of the articulated liquid tank vehicles. The stability of such tank vehicles may be further affected by the dynamic fluid-structure interactions, vehicle transients and driver’s reaction.

Velocity-Based Control of Manipulator/Vehicle System Floating on Water

1997 ◽  
Vol 9 (5) ◽  
pp. 318-323 ◽  
Author(s):  
Hisashi Kajita ◽  
◽  
Kazuhiro Kosuge
Keyword(s):  
Coordinate System ◽  
Rate Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Inertial Coordinate System ◽  
Trajectory Tracking Control ◽  
Vehicle System ◽  
Position And Orientation ◽  
The Stability ◽  
External Forces

A manipulator/vehicle system floating on water consists of a vehicle with a manipulator attached to it. Similar to the space manipulator system, the system on water is not fixed to an inertial coordinate system. So, external forces affect the motion of the system. In this paper, we propose an algorithm for controlling the position and orientation of the end-effector of the manipulator/vehicle system in an inertial coordinate system under the assumption that the stability of the vehicle is maintained. We derive the kinematics of the system and propose a trajectory tracking control algorithm based on the resolved motion rate control, then prove convergence of the control algorithm using the Lyapunov's method. Experimental results illustrate the validity of the proposed control algorithm.

Kinematics and Control of the TowPlow: A Steerable Articulated Vehicle System

2014 ◽  
Author(s):  
Jaeyoung Kang ◽  
Steven A. Velinsky
Keyword(s):  
Kinematic Analysis ◽  
Radius Of Curvature ◽  
Steering Angle ◽  
Vehicle System ◽  
Kinematic Characteristics ◽  
Articulated Vehicle ◽  
Constant Radius ◽  
Simulation Results ◽  
And Control

The TowPlow is a novel type of snowplow that consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The trailer is equipped with hydraulic-powered steerable axles so that it can be steered up to 30 degrees with respect to the tractor. The combination of the front plow of the towing snowplow and the trailer-equipped plow is able to clear a path up to approximately 24-ft wide, which is the width of two typical traffic lanes. In this paper, the kinematic characteristics of the TowPlow are derived using instantaneous centers of velocity. Based on the derived equations, the relation between the radius of curvature and the trailer wheel steering angle that allows the tractor-trailer to maintain its initial articulation angle is defined. Also, simulations of constant radius turning are performed with and without the trailer’s corrective steering, and the results are compared. Even though the kinematic analysis does not take forces and inertia into account, it is clearly demonstrated in the simulation results that appropriate steering of the trailer wheel is necessary to maintain the articulation angle of the TowPlow and to prevent the device from intruding into adjacent lanes.

scholarly journals Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667372 ◽  
Author(s):  
Yunping Liu ◽  
Xijie Huang ◽  
Tianmiao Wang ◽  
Yonghong Zhang ◽  
Xianying Li
Keyword(s):  
Nonlinear Dynamics ◽  
Lyapunov Exponent ◽  
Modeling And Simulation ◽  
Phase Trajectory ◽  
Proportional Integral Derivative ◽  
Dynamics Modeling ◽  
Proportional Integral ◽  
Vehicle System ◽  
Proportional Integral Derivative Control ◽  
The Stability

Two-wheeled self-balancing vehicle system is a kind of naturally unstable underactuated system with high-rank unstable multivariable strongly coupling complicated dynamic nonlinear property. Nonlinear dynamics modeling and simulation, as a basis of two-wheeled self-balancing vehicle dynamics research, has the guiding effect for system design of the project demonstration and design phase. Dynamics model of the two-wheeled self-balancing vehicle is established by importing a TSi ProPac package to the Mathematica software (version 8.0), which analyzes the stability and calculates the Lyapunov exponents of the system. The relationship between external force and stability of the system is analyzed by the phase trajectory. Proportional–integral–derivative control is added to the system in order to improve the stability of the two-wheeled self-balancing vehicle. From the research, Lyapunov exponent can be used to research the stability of hyperchaos system. The stability of the two-wheeled self-balancing vehicle is better by inputting the proportional–integral–derivative control. The Lyapunov exponent and phase trajectory can help us analyze the stability of a system better and lay the foundation for the analysis and control of the two-wheeled self-balancing vehicle system.

Research for the Turning Vehicles ESP Control Performances on the Yaw Elastic Restriction Vehicle System

2012 ◽  
Vol 229-231 ◽  
pp. 325-330
Author(s):  
Guo Ye Wang ◽  
Lu Zhang ◽  
Guo Yan Chen ◽  
Zhong Fu Zhang
Keyword(s):  
Vehicle Dynamics ◽  
Stability Control ◽  
Dynamics Simulation ◽  
Control Performance ◽  
Vehicle System ◽  
Test Conditions ◽  
Vehicle Systems ◽  
Set Up ◽  
The Stability ◽  
Driving Stability

Project the structure of the yaw elastic restriction vehicle system, and set up the system dynamic model. Establish yaw elastic restriction vehicle dynamics simulation system based on Matlab/Simulink aimed at Chery A3 sedan. Adopting the brake driving integration ESP control strategy, analyze and verify the stability control performance of independent vehicle systems and yaw elastic restriction vehicle system respectively in neutral steer, understeer and oversteer three test conditions. The results of the study show that the stability control performance of yaw elastic restriction vehicle system and independent vehicle systems has remarkable consistency. This provides a basis for vehicle driving stability control test.

Stable headway prediction of vehicle platoon based on the 5-degree-of-freedom vehicle model

2018 ◽  
Vol 233 (6) ◽  
pp. 1570-1585 ◽  
Author(s):  
Shuming Shi ◽  
Ling Li ◽  
Yu Mu ◽  
Guanghui Chen
Keyword(s):  
Ad Hoc Network ◽  
Ad Hoc ◽  
Rotational Velocity ◽  
Autonomous Vehicle ◽  
Degree Of Freedom ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Vehicle System ◽  
Vehicle Platoon ◽  
The Stability

Vehicular ad hoc network and cooperative adaptive cruise control system make vehicle platooning with small headway feasible. In the study of the autonomous vehicle platoon system under the vehicular ad hoc network condition, the linear vehicle model is usually used to analyze the minimum space-gap, safety space-gap, and so on. However, the stability of nonlinear vehicle system shows that there are limitations when using the linearized vehicle model to analyze vehicle stability. The linear model cannot reflect the influence of the system nonlinear coupling on the vehicle stability. Therefore, in this paper, we use the validated 5-degree-of-freedom (longitudinal velocity, lateral velocity, yaw rate, front wheel rotational velocity, and rear wheel rotational velocity) nonlinear model to analyze the stable intra-platoon spacing of the autonomous vehicle platoon system under the condition of VANET. In order to study the safety intra-platoon spacing of vehicle platoon running in the complex path, a following controller is designed for vehicle platoon running in the corners. The controller adopts the method of vertical and horizontal decentralized control. The longitudinal control is to realize the expected space-gap of vehicles in vehicle platoon, and the lateral control is to achieve the position and orientation following of the preceding vehicle. Based on the stability verification of the following controller, the following control characteristics of vehicle system are analyzed, and the stable headway required for vehicles in vehicle platoon running in the complex path is predicted by the method of simulation experiment.

Design of a new integrated controller (braking and steering) to maintain the stability of a long articulated vehicle

2019 ◽  
Vol 234 (5) ◽  
pp. 981-1013
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
Control Systems ◽  
Performance Indicator ◽  
Sliding Mode ◽  
Front Axle ◽  
Steering Control ◽  
Simultaneous Application ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Integrated Controller ◽  
The Stability

As demands increase for goods transportation services, long articulated vehicles are introduced as a viable alternative to conventional heavy-duty vehicles. Nowadays, steering control systems are commonly used for enhancing the stability and handling of articulated vehicles. As situations become more difficult for the movement of a vehicle, the ability of the steering actuators decreases and it will not be possible to use this controller alone in critical maneuvers. Another effective way to adjust the directional dynamics of a long articulated vehicle is the simultaneous application of the braking and steering systems. In a situation where the vehicle is close to the ultimate steering limit, it is desirable to reduce the speed, and the steering system can be strengthened through the intervention of the braking system. In this article, a 23 degree of freedom dynamic model of the long articulated vehicle has been developed in MATLAB software. After determining the reference control variables, we will design a sliding mode controller to steer the tractor’s front axle and the semi-trailer’s rear axles. After defining and setting the weight coefficients using a performance indicator, we will design an integrated controller in a way that if maneuvers become more difficult to perform and the efficiency of the steering actuators decreases, the braking forces exerted on the tractor’s rear axle and the semi-trailer’s rear axles will take a share in regulating the vehicle’s movement. The main achievement of this article is the introduction of a new method to integrate braking and steering control systems in long articulated vehicles. The paper aims to prove that only if manoeuvres become more difficult to perform and the performance of steering actuators decreases, then braking forces can take part in regulating the vehicle’s movement.

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