Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following

被引：46
|
作者：
Rangavajhula, Krishna [1 ]
Tsao, H-S. Jacob [1 ]
机构：
[1] San Jose State Univ, Dept Ind & Syst Engn, San Jose, CA 95192 USA
来源：
INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS | 2007年 / 14卷 / 03期
关键词：
longer combination vehicle; LCV; heavy truck; off tracking; active trailer steering; rearward amplification; lateral dynamics; control;
D O I：
10.1504/IJHVS.2007.015604
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We examine several control strategies to minimise off-tracking of a multi-axle steering system with a tractor and three full trailers, described by a linear yaw-plane model. Given any arbitrary tractor track desired real-time by the driver, control inputs are the steering angles of front axles of the trailers. A minimum Rearward Amplification Ratio (RWA), as a surrogate for minimum off-tracking, is used as the control criterion to arrive at an optimal LQR controller, which is remarkably robust to tyre-parameter variations. Actively steering trailers 1 and 2 is most cost-effective in achieving acceptable levels of RWA, with off-tracking practically eliminated.
引用
收藏
页码：271 / 293
页数：23
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