MODELING AND CONTROL DESIGN FOR ACTIVE TRAILER STEERING OF HEAVY VEHICLES

被引：0
|
作者：
Brown, Jesse [1 ]
He, Yuping [1 ]
Lang, Haoxiang [1 ]
机构：
[1] Univ Ontario Inst Technol, Dept Automot Mech & Mfg Engn, Oshawa, ON L1H 7K4, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2017, VOL 12 | 2018年
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D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a linear quadratic regulator (LQR) controller for active trailer steering (ATS) of a tractor-semitrailer. The tractor-semitrailer is modelled as a linear yaw/roll model with 5 Degrees-Of-Freedom (DOF). The linear yaw/roll model is validated with a nonlinear tractor-semitrailer model developed with TruckSim under a simulated single lane change maneuver. Then, the validated linear yaw/roll model is used to design the LQR controller for ATS. The TruckSim model and the LQR controller are integrated by means of an interface between the software packages of TruckSim and Matlab/Simulink. The LQR controller is assessed using numerical simulation of the TruckSim model with and without the ATS control. Evaluation of the controller is based on the performance measures of the trailer in terms of rearward amplification (RA), peak roll angle, and load transfer ratio (LTR). It is demonstrated that the LQR controller leads to the decrease the peak values of the aforementioned measures by 4.81%, 20.7%, and 33%, respectively.
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页数：8
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