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

页码：271 / 293

页数：23

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