Active steering control strategy for articulated vehicles

Kim, Kyongil; Guan, Hongxia; Wang, Bo; Guo, Rui; Liang, Fan

doi:10.1631/fitee.1500211

Cited by 33 publications

(27 citation statements)

References 13 publications

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“…The model includes a hydraulic damping system used in the articulation. Similar planar models developed for articulated vehicles, especially for tractor and trailer configurations, can be found in [1][2][3].…”

Section: Methodsmentioning

confidence: 88%

Method of controlling innovative articulation for articulated vehicle

et al. 2018

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Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

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Section: Methodsmentioning

confidence: 88%

Method of controlling innovative articulation for articulated vehicle

et al. 2018

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“…erefore, identification of these nonlinear characteristics would be a logical choice [12]. Nie and Zong, Kim et al, and Guang et al mentioned that it is not necessary to model all the nonlinear components rather than generally characterize their overall nonlinear property related to the vehicle's dynamics [13][14][15][16]. But in Nie and Zong, Kim et al, and Guang et al's researches, there are two main inadequacies.…”

Section: Introductionmentioning

confidence: 99%

Parameter Identification of Tractor‐Semitrailer Model under Steering and Braking

Shi

Qiu

2019

Mathematical Problems in Engineering

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This paper describes a valuable linear yaw-roll tractor-semitrailer (TST) model with five-degree-of-freedom (DOFs) for control algorithm development when steering and braking. The key parameters, roll stiffness, axle cornering stiffness, and fifth-wheel stiffness, are identified by the genetic algorithm (GA) and multistage genetic algorithm (MGA) based on TruckSim outputs to increase the accuracy of the model. Thus, the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup table and interpolation. The TruckSim vehicle model is built referring to the real tractor (JAC-HFC4251P1K7E33ZTF6×2) and semitrailer (Luyue LHX9406) used in the field test later. The validation of the linear yaw-roll model of a tractor-semitrailer using field test data is presented in this paper. The field test in the performance testing ground is detailed, and the test data of roll angle, roll rate, and yaw rate are compared with the outputs of the model with maps of the key parameters. The results indicate that the error of the tractor’s roll angle and semitrailer’s roll angle between model data and test data is 1.13% and 1.24%, respectively. The roll rate and yaw rate of the tractor and semitrailer are also in good agreement.

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“…The majority of the lateral control approaches for long-combination vehicles (e.g. [1][2][3][4][5][6]) are based on the assumption that parameters and variables of the considered vehicle model for control designs are known and measurable or can be estimated. Consequently, the applicability of the control systems are restricted by the accuracy of vehicle parameters such as yaw moment of inertia, mass, location of center of gravity and tyre cornering stiffness coefficients.…”

Section: Introductionmentioning

confidence: 99%

Robust lateral control of long-combination vehicles under moments of inertia and tyre cornering stiffness uncertainties

Kati

Köroğlu

Fredriksson

2018

Vehicle System Dynamics

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A robust steering-based controller synthesis is presented for an Adouble combination vehicle with a steerable dolly. The controller ensures robust stability and performance in the face of uncertainties in the cornering stiffness of the tyres and the moments of inertia of the semitrailers, which are treated as time-varying and time-invariant parameters respectively. A descriptor-type representation of the system is employed since a standard state-space model depends rationally on the moments of inertia. The controller synthesis is formulated as an H ∞-type static output feedback, which uses information from only one articulation angle. The driver steering input is also used by including a static feed-forward. The proposed synthesis method is based on linear matrix inequality (LMI) optimisation. The controller is verified based on the simulation results obtained from both (approximate) linear and (high-fidelity) nonlinear vehicle models. The results indicate significant improvement in the high-speed lateral performance of the A-double in the presence of parametric uncertainties.

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Active steering control strategy for articulated vehicles

Cited by 33 publications

References 13 publications

Method of controlling innovative articulation for articulated vehicle

Method of controlling innovative articulation for articulated vehicle

Parameter Identification of Tractor‐Semitrailer Model under Steering and Braking

Robust lateral control of long-combination vehicles under moments of inertia and tyre cornering stiffness uncertainties

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