Stability Analysis and Trajectory Tracking Control of Articulated Heavy Vehicles

被引：3
|
作者：
Tian Jie [1 ]
Chen Qingyun [1 ]
Song Zhipeng [1 ]
Xu Lian [1 ]
Li Meiying [1 ]
机构：
[1] Nanjing Forestry Univ, Nanjing 210037, Jiangsu, Peoples R China
来源：
2015 INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION, BIG DATA AND SMART CITY (ICITBS) | 2016年
关键词：
Articulated Heavy Vehicle; Stability Analysis; Trajectory Tracking Control; Active Front Wheel Steering;
D O I：
10.1109/ICITBS.2015.188
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Articulated heavy vehicles have heavy loads, high shipping efficiency and low mileage cost. But due to the interaction between the tractor and the trailer, it is easy to appear "jack-knifing" or "trailer sway" and it is difficult to follow the given path of the travel. To this end, a four degrees of freedom single track model of a tractor/full-trailer is built, and the stability analysis is carried on to study the influences of the structural and operating parameters on the vehicle. Furthermore the trajectory tracking controller of trailer is designed, which can ensure that the trajectory of the trailer follows that of the tractor exactly by the control of the active front wheel steering angle of the trailer and the vehicle can maintain good handling stability.
引用
收藏
页码：744 / 748
页数：5
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