Parallel Design Optimization of Articulated Heavy Vehicles with Active Safety Systems

Islam, Mohammad Manjurul; Mikaric, Steve; He, Yuping; Hu, Thomas

doi:10.1007/978-3-642-33738-3_53

Cited by 10 publications

(34 citation statements)

References 4 publications

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“…In the research, the 4-DOF model and the 7-DOF model use the same linear tyre model. 3 As the data show in Table 6, the values of the maximum peak lateral tyre force on axle 1 predicted by the two Experiments on the numerical simulations of the three MTAHV models demonstrate that the respective dynamic features of the linear tyre models and the nonlinear tyre model are the main reason governing the deviation of the dynamic responses derived from the linear MTAHV models and the non-linear MTAHV model.…”

Section: Simulation Results Derived From Highlateral-acceleration Manmentioning

confidence: 91%

A comparative study of multi-trailer articulated heavy-vehicle models

Islam

Zhu

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper provides valuable guidelines on the selection of dynamic vehicle models for control algorithm development, design optimization and linear stability analysis for multi-trailer articulated heavy vehicles with active safety systems. The validation of yaw-plane and yaw-roll models of a tractor-two-semitrailer combination using the TruckSim software package is presented in this paper. A linear four-degree-of-freedom yaw-plane model and a linear seven-degree-of-freedom yaw-roll model of the vehicle were generated, compared and evaluated. The linear models of the multi-trailer articulated heavy vehicle yield numerical simulation results which are validated by comparing with those obtained from the corresponding non-linear TruckSim model. This paper also includes eigenvalue and frequency-response analysis of the linear models to estimate the unstable motion modes and to predict the unique dynamic features of the multi-trailer articulated heavy vehicle in the frequency domain. A benchmark investigation of the models was performed to examine the fidelity, the complexity and the applicability of the linear models.

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Section: Simulation Results Derived From Highlateral-acceleration Manmentioning

confidence: 91%

A comparative study of multi-trailer articulated heavy-vehicle models

Islam

Zhu

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Between the tractor and the 2nd semitrailer, the yaw rate RWA takes the value of 0.93 in the control case. The value of lateral acceleration RWA is 1.0 in an ideal case [21]. Since the RWA between tractor and 2nd semitrailer is most important compared to the one between tractor and 1st semitrailer, the former will be used to for rest of the discussion unless mentioned.…”

Section: Resultsmentioning

confidence: 99%

“…This approach suffers from higher cost. On the other hand, in [21] parallel optimization based control system design using LQR technique is presented. Unfortunately, this approach demands high computation cost.…”

Section: Related Workmentioning

confidence: 99%

Inverse model control including actuator dynamics for active dolly steering in high capacity transport vehicle

Islam

Laine

Jacobson

2015

2015 IEEE Intelligent Vehicles Symposium (IV)

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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.

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“…As far as the high-speed manoeuvre is concerned, it has been shown by Islam [1,12], that the regulation of RA ratio could be used to minimise the high-speed tracking error and the roll stability at the same time. During a highspeed transient manoeuvre, the time delay between generation of tyre forces for the tractor and the semitrailer causes the semitrailer to travel slightly outwards due to its large inertia.…”

Section: Introductionmentioning

confidence: 99%

Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

Milani

Ünlüsoy

Marzbani

et al. 2019

Nonlinear Engineering

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Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control of the semitrailer on manoeuvrability and stability of tractor-semitrailer combinations is investigated. A linear bicycle model and a nonlinear version are used for controller design and vehicle dynamic simulation in MATLAB environment. The Linear Quadratic Regulator optimal state feedback control is used to minimise the tracking error at low-speed, and regulate Rearward Amplification ratio and roll at high-speed. Quantum Particle Swarm Optimisation is used for optimising the weighting factors. Three different control algorithms are introduced and it is demonstrated through simulations that the vehicle with the proposed steering control exhibits desirable improvements compared to the baseline vehicle.

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Parallel Design Optimization of Articulated Heavy Vehicles with Active Safety Systems

Cited by 10 publications

References 4 publications

A comparative study of multi-trailer articulated heavy-vehicle models

A comparative study of multi-trailer articulated heavy-vehicle models

Inverse model control including actuator dynamics for active dolly steering in high capacity transport vehicle

Semitrailer Steering Control for Improved Articulated Vehicle Manoeuvrability and Stability

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