Nonlinear Lateral Dynamic Behavior of a High Capacity Transport Vehicle

In order to improve the productivity of freight transport the high capacity transport (HCT) vehicle combinations have been introduced in the traffic circulation. These vehicle combinations are longer in longitudinal dimension and/or greater in mass than the national traffic legislation allows. This kind of vehicle combination is not considered as a special transport, but it requires derogations of law restrictions. An HCT vehicle combination is restricted to drive in good weather conditions and on predefined routes. The lateral dynamic behavior of HCT vehicle combinations have not been examined on low road friction surfaces. The purpose of this thesis is to examine the nonlinear lateral dynamic behavior of a Double-A HCT vehicle combination on low road friction surface. The vehicle combination consists of four different vehicle units, three articulations, multiple axles and multiple wheels. The vehicle units are tractor, semi-trailer, dolly and semi-trailer units. An analytical simulation model is designed based on the single-track model. The single-track model is extended to a multi-wheel model, which includes nonlinear tire characteristics and wheel load transfers. The nonlinear tire model being used is the Magic Formula tire model. Relevant theory and parameters are gathered from literature and industry. The analytical simulation model simulates two different open-loop simulation types at a forward velocity of 80km/h on low road friction surface. A double lane change maneuver based on the ISO 3888 standard and a phase plane simulation method are introduced. The phase plane simulation method is a phase portrait analysis of a specific vehicle unit of the vehicle combination. This kind of phase plane analysis is new for a heavy vehicle combination. This study provides novel results regarding the lateral stability of heavy vehicle combinations on low road friction situations. A sensitivity analysis regarding the lateral stability of the vehicle combination is performed with the two different simulation types. The sensitivity parameters are the length of the dolly unit drawbar and the semi-trailer single or twin wheel parameter. Additionally, a comparison of the lateral stability of the vehicle combination between high and low road friction surfaces is performed. The study indicates that the examined vehicle combination is relatively unstable with high vehicle forward velocities on low road friction surfaces with any kind of sensitivity analysis settings in a double lane change maneuver and with specific state deviations in the phase plane analysis. The phase plane analysis along with the double lane change maneuver, however, indicate that twin wheels on semi-trailer rear axles and longer dolly drawbar promote stable behavior and increase the lateral stability of the vehicle combination significantly on low road friction surface.

[1]  E. Gohring,et al.  The Impact of Different ABS-Philosophies on the Directional Behavior of Commercial Vehicles , 1989 .

[2]  Robert Karlsson,et al.  Performance based standards for high capacity transports in Sweden : FIFFI project 2013-03881: Report 1: Review of existing regulations and literature , 2015 .

[3]  A Germanchev,et al.  Modular AB-triples: Australia’s next generation of very high productivity freight vehicles , 2014 .

[4]  Panayotis Christidis,et al.  Longer and Heavier Vehicles for freight transport , 2009 .

[5]  T D Gillespie,et al.  Fundamentals of Vehicle Dynamics , 1992 .

[6]  Russell G. Thompson,et al.  What are the safety benefits of Australian high productivity vehicles when compared to the conventional heavy vehicle fleet , 2016 .

[7]  Joop Pauwelussen.  Essentials of Vehicle Dynamics , 2014 .

[8]  Shahram Azadi,et al.  A sliding-mode controller for directional control of articulated heavy vehicles , 2014 .

[9]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[10]  M. F. J. Luijten,et al.  Lateral Dynamic Behaviour of Articulated Commercial Vehicles , 2010 .

[11]  P S Fancher,et al.  A VEHICLE DYNAMICS HANDBOOK FOR SINGLE-UNIT AND ARTICULATED HEAVY TRUCKS , 1987 .

[12]  H. Nijmeijer,et al.  Analysis of the lateral dynamic behaviour of articulated commercial vehicles , 2012 .

[13]  Olle Nordström.  HEAVY DUTY VEHICLE DYNAMICS RELATED TO BRAKING, STEERING AND TYRES - SWEDISH RESEARCH AND PROPOSALS BY VTI , 1989 .

[14]  William F. Milliken,et al.  Race Car Vehicle Dynamics , 1994 .

[15]  Paul S. Fancher,et al.  USING BRAKING TO CONTROL THE LATERAL MOTIONS OF FULL TRAILERS , 1998 .

[16]  Jonas Fredriksson,et al.  Performance Improvement for A-double Combination by introducing a Smart Dolly , 2014 .

[17]  P. Neittaanmäki,et al.  To the Ministry of Employment and the Economy , 2014 .

[18]  Masaki Yamamoto,et al.  ANALYSIS ON VEHICLE STABILITY IN CRITICAL CORNERING USING PHASE-PLANE METHOD , 1994 .

[19]  Jesper Sandin,et al.  Drivers' assessment of driving a 32 meter A-double with and without full automation in a moving base simulator , 2014 .

[20]  Mohammad Manjurul Islam,et al.  Parallel design optimization of multi-trailer articulated heavy vehicles with active safety systems , 2013 .

[21]  Paul S. Fancher.  The Static Stability of Articulated Commercial Vehicles , 1985 .

[22]  Stefan Edlund,et al.  THE INFLUENCE OF STEERED AXLES ON THE DYNAMIC STABILITY OF HEAVY VEHICLES , 1989 .

[23]  Kenneth J. Hunt,et al.  Roll dynamics and lateral load transfer estimation in articulated heavy freight vehicles , 2003 .

[24]  David Cebon,et al.  Achievable roll stability of heavy road vehicles , 2003 .

[25]  Paul S. Fancher,et al.  Directional Dynamics Considerations for Multi-Articulated, Multi-Axled Heavy Vehicles , 1989 .

[26]  Shuiwen Shen,et al.  Nonlinear dynamics and stability analysis of vehicle plane motions , 2007 .

[27]  Giancarlo Genta,et al.  Motor Vehicle Dynamics , 1997 .

[28]  Aleksander B. Hac,et al.  Stability and Control Considerations of Vehicle-Trailer Combination , 2008 .

[29]  H. T. Smakman,et al.  Functional integration of slip control with active suspension for improved lateral vehicle dynamics , 2000 .