A New Method for Directional Control of a Tractor Semi-trailer

In order to improve the stability and maneuverability of the articulated vehicle, a reference model for directional control is proposed. First, both linear and nonlinear models of the articulated heavy vehicle are developed. The linear model is used to design the controller and generating the reference response while the nonlinear model is used to evaluate the system responses. The yaw rate and lateral velocity of the towing unit and the articulation angle between the towing and trailer unit are considered as the primary motions associated with the directional behavior of the articulated vehicle. The desired values of these states are defined in such way to improve the maneuverability and the stability of the articulated vehicle. A linear controller based on the optimal control theory has been designed to make the actual vehicle model follow the ideal responses. Finally, this paper investigates the effectiveness of different methods on vehicle and driver behaviors during high speed lane change and low speed turning maneuvers. Computer simulation results confirm the significant effects of the proposed method on enhancing the handling behavior of the articulated vehicle.

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