Inverse Model Control Including Actuator Dynamics for Active Dolly Steering in High Capacity Transport Vehicle

This paper describes an advance controller designed using the nonlinear inversion technique of a Modelica (R) based simulation tool, such as Dymola (R), for active dolly steering of a high capacity transport vehicle. Actuator dynamics is included in the inverse model controller. Therefore, it can automatically generate required steering angle request for the dolly axles of the vehicle combination. The resultant controller is transfered as a functional mock-up unit (FMU) to Simulink (R) environment where the actual simulations are conducted. The controller is simulated against a high-fidelity vehicle model of an A-double combination from Virtual Truck Models (VTM) library - developed by Volvo Group Trucks Technology. Effects of variations of the actual actuator dynamics, with respect to the modeled dynamics in the inverse model controller, on overall vehicle performance are investigated.