Articulated heavy vehicle lateral dynamic analysis using an automated frequency response measuring technique

This paper focuses on the contribution of a hydraulically interconnected suspension on the handling performance of a tractor-semitrailer. A hydraulically interconnected suspension model is integrated with a traditional tractor-semitrailer suspension for the purpose of study, and the hydraulically interconnected suspension system is first investigated through the bench test simulation to study its nonlinear and damping characteristic. Then a static rollover test, a steady-state circular test, a pulse steer input test, a pulse road input test and a random road input test are simulated in order to fully investigate the performance of a tractor-semitrailer with hydraulically interconnected suspension. The comparison analyses are conducted among two vehicles which are a fully loaded tractor-semitrailer without hydraulically interconnected suspension, an unloaded tractor-semitrailer without hydraulically interconnected suspension, a fully loaded tractor-semitrailer with hydraulically interconnected suspension and an unloaded tractor-semitrailer with hydraulically interconnected suspension. The obtained results show that the fully loaded tractor-semitrailer has enhanced handling performance, an improved steady-state rollover threshold and unchanged ride performance with the assistance of hydraulically interconnected suspension.

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“…They denote the frequency response of the yaw rate gain, lateral acceleration gain and phase delay of trailer units. 13…”

Section: Comparison Analysis and Discussionmentioning

confidence: 99%

Handling performance of tractor-semitrailers equipped with hydraulically interconnected suspension

Liu¹,

Zhang

Feng³

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…For a linear AHV model, the defined RWA is the magnitude of the transfer function of the lateral acceleration response of the trailer with respect to the input of the lateral acceleration of the tractor. 34 Within the linear dynamics of the AHV, the RWA is independent of the amplitude of the input, and increasing the input amplitude, e.g. the peak lateral acceleration or the lateral displacement of the tractor, does not change the RWA measure.…”

Section: Iso-14791:2000(e)mentioning

confidence: 94%

“…The RWA determined under the HSLC manoeuvre depends on the excitation frequency of the single-sinewave lateral acceleration input of the tractor. [32][33][34][35] In the case concerned, the period of the single-sine-wave lateral acceleration input of the leading vehicle unit is 2.5 s. The RWA measure similarly defined by ISO-14791:2000(E) 25 has been successfully applied to the design optimization of ATS systems for tractor-singletrailer combinations. 4,11 However, in the case of MTAHVs, the lateral stability measures cannot be adequately represented by the RWA alone.…”

Section: Iso-14791:2000(e)mentioning

confidence: 99%

A design synthesis framework for directional performance optimization of multi-trailer articulated heavy vehicles with trailer lateral dynamic control systems

Islam

Zhu

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents a design synthesis framework for directional performance optimization of multi-trailer articulated heavy vehicles with trailer lateral dynamic control systems, e.g. active trailer steering, trailer differential braking, active roll control or the coordination of the three systems. In order to demonstrate the effectiveness of the proposed framework, it was applied to the design optimization of a multi-trailer articulated heavy vehicle with an active trailer steering controller. In the design, a set of lateral stability measures is originally defined, and the design problem under simulated test manoeuvres is implemented using a parallel computing technique. It is illustrated that the proposed framework and the performance measures can be used to identify effectively the desired variables and to predict reliably the performance envelopes of multi-trailer articulated heavy vehicles with active safety systems by considering the concept of driver-adaptive-vehicle design.

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“…In the first approach, the simulations are performed by using a chirp (swept-sine) as the driver steering input with an amplitude of 0.86 • and with a frequency sweep from 0 to 1 Hz in 180 s [37]. In the second approach, a random driver steering input is chosen in which both the frequency and amplitude of the steering input are varied randomly and continuously.…”

Section: Frequency Domain Analysis Based On Vtm Simulationsmentioning

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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Articulated heavy vehicle lateral dynamic analysis using an automated frequency response measuring technique

Cited by 9 publications

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Handling performance of tractor-semitrailers equipped with hydraulically interconnected suspension

Handling performance of tractor-semitrailers equipped with hydraulically interconnected suspension

A design synthesis framework for directional performance optimization of multi-trailer articulated heavy vehicles with trailer lateral dynamic control systems

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

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