Control of the nonlinear dynamics of a truck and trailer combination

Latif, AmirReza; Chalhoub, Nabil G.; Pilipchuk, Valery N.

doi:10.1007/s11071-019-05452-1

Cited by 20 publications

(7 citation statements)

References 33 publications

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“…Different driving scenarios and road conditions, such as braking and accelerating manoeuvre with a flat tire on a dry road, and a double-lane change manoeuvre on a slippery road, were considered. Overall, the simulation results demonstrated the superiority of the sliding mode controller over the integral-plus-state feedback controller in ensuring better tracking of the truck and trailer combination to a target path under different driving manoeuvres [5].…”

Section: Introductionmentioning

confidence: 84%

Simulated testing and its role in construction of agricultural equipment

Popa

Ştefan

Zaica

et al. 2021

20th International Scientific Conference Engineering for Rural Development Proceedings

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In the process of agricultural production, a large percentage is represented by transport works. The transport of agricultural products and materials is carried out in a proportion of 70…80% on public roads, which means that all means of transport that travel on these roads must be designed and equipped in strict accordance with the regulations in force on road safety. This article presents the results of the research conducted for the construction of a two-part tipper trailer, equipped with two axles, designed in cooperation with a Romanian company. The activities carried out fell into the category of applied research. Three-dimensional design can ensure precision in execution, shortening the time to supply a product on the market, reducing the time required for the entire flow, from design to manufacturing, testing and mass production. In order to accelerate the research and shorten the period until the realization of the experimental model, in the design phase simulated research was performed, using the SolidWorks Simulation module. These researches contributed to the correct choice of materials, as well as to the precise determination of the dimensional characteristics of the various subassemblies. The main subassembly studied by virtual testing was the axle of the trailer. A good dimensioning of the trailer components ensures the safety in operation and contributes to the optimization of the trailer production process, eliminating the irrational consumption of raw materials. The integration of the subassemblies tested by simulation, and later by experimental research in real working conditions, led to the performing of an agricultural trailer with a payload of 7 tons, contributing to the development of the agricultural machinery construction in Romania. The article presents the results of the static analysis of the trailer axle of the rolling system, using virtual testing to look for vulnerabilities, as a necessary stage of the development process.

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Section: Introductionmentioning

confidence: 84%

Simulated testing and its role in construction of agricultural equipment

Popa

Ştefan

Zaica

et al. 2021

20th International Scientific Conference Engineering for Rural Development Proceedings

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“…A state estimator, in general, is a recursive Bayesian estimator [ 33 ]. It can find its application to control and monitor the operation of the machine [ 22 ] by estimating the state subject of control instead of measuring it. In many practical cases, measurement can be cumbersome or expensive to conduct.…”

Section: Introductionmentioning

confidence: 99%

State estimator based on an indirect Kalman filter for a hydraulically actuated multibody system

et al. 2022

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In multibody system dynamics, the equations of motion are often coupled with systems of other physical nature, such as hydraulics. To infer the real dynamical state of such a coupled multibody system at any instant of time, information fusing techniques, such as state estimators, can be followed. In this procedure, data is combined from the coupled multibody model and the physical sensors installed on the actual machine. This paper proposes a novel state estimator developed by combining a multibody model with an indirect Kalman filter in the framework of hydraulically driven systems. An indirect Kalman filter that utilizes the exact Jacobian matrix of the plant at position and velocity level is extended for hydraulically actuated systems. The structures of the covariance matrices of the plant and measurement noise are also studied. The multibody system, described using a semi-recursive formulation, and the hydraulic subsystem, described using lumped fluid theory, are coupled using a monolithic approach. As a case study, the state estimator is applied to a hydraulically actuated four-bar mechanism. The state estimator considers modeling errors in the force model because of its uncertainty in modeling. The measurements are obtained from a dynamic model which is considered as the ground truth, with an addition of white Gaussian noise to represent the noise properties of the actual sensors. The state estimator uses four sensor configurations with different sampling rates. For the presented case study, the state estimator can accurately estimate the work cycle and hydraulic pressures of the coupled multibody system. The results demonstrate the efficacy of the proposed state estimator.

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“…Path following is a vital function of the driver model. Some active steering control systems use preview Path-Following Algorithms (PFAs) to actively intervene in wheel steering input and drive/braking torque to improve driving stability [ 5 , 6 , 7 , 8 , 9 ]. Different from the active safety control system, PFAs focus on the steering control ability during cornering, which is reflected in the stability and accuracy of steering control.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Articulation Angle Preview-Based Path-Following Algorithm for Tractor-Semitrailer Using Optimal Control

Tang

Wang

et al. 2022

Sensors

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Most existing Path-Following Algorithms (PFAs) are developed for single-unit vehicles (SUVs) and rarely for articulated vehicles (AVs). Since these PFAs ignore the motion of the trailer, they may cause large tracking deviations and ride stability issues when cornering. To this end, an Adaptive Articulation Angle Preview-based Path-Following Algorithm (AAAP-PFA) is proposed for AVs. Different from previous PFAs, in this model, a simple linear vehicle dynamics model is used as the prediction model, and an offset distance calculated by an articulation angle is used as part of the preview distance. An adaptive posture control strategy is designed to trade off the trajectory tracking performance and lateral stability performance during the path-following process. Considering a large prediction mismatch caused by using a linear vehicle dynamics model, a feedback correction method is proposed to improve the robustness of the steering control. In the comparison simulation experiment with SUV-PFA, it is confirmed that the novel PFA has better adaptability to the contradictory relationship between tracking performance and lateral stability and has strong steering control robustness.

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Control of the nonlinear dynamics of a truck and trailer combination

Cited by 20 publications

References 33 publications

Simulated testing and its role in construction of agricultural equipment

Simulated testing and its role in construction of agricultural equipment

State estimator based on an indirect Kalman filter for a hydraulically actuated multibody system

Adaptive Articulation Angle Preview-Based Path-Following Algorithm for Tractor-Semitrailer Using Optimal Control

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