High-speed optimal steering of a tractor–semitrailer

A high-speed optimal trailer steering controller for a tractor–semitrailer is discussed. A linear model of a tractor–semitrailer with steered trailer axles is described, and an optimal trailer steering controller is introduced. A path-following controller is derived to minimise the path-tracking error in steady-state manoeuvres using active trailer steering. A roll stability controller is introduced by adding the lateral acceleration of trailer centre of gravity as another objective in the steering controller, so as to improve roll stability in transient manoeuvres. A strategy to switch between these two control modes is demonstrated. Simulation results show that the steering controller can ensure good path tracking of articulated vehicles in steady-state manoeuvres and improve roll stability significantly in transient manoeuvres, while maintaining the path-tracking deviation within an acceptable range. Tests with an experimental tractor–semitrailer equipped with a high-bandwidth active steering system validate the controller design and simulation results. The roll stability controller reduces the measured rearward amplification by 27%.

[1]  Takeshi Fujishiro,et al.  A Control Method For 4WS Truck To Suppress Excursion of a Body Rear Overhang , 1989 .

[2]  Dongpu Cao,et al.  Advanced Suspension Systems and Dynamics for Future Road Vehicles , 2011 .

[3]  David Cebon,et al.  Active roll control of an experimental articulated vehicle , 2005 .

[4]  H Prem,et al.  Performance evaluation of the Trackaxle (TM) steerable axle system , 2002 .

[5]  Edoardo Sabbioni,et al.  A methodology for vehicle sideslip angle identification: comparison with experimental data , 2007 .

[6]  David Cebon,et al.  Application of observer-based fault detection in vehicle roll control , 2009 .

[7]  Victor M. Becerra,et al.  Optimal control , 2008, Scholarpedia.

[8]  David Cebon,et al.  Parameter and state estimation for articulated heavy vehicles , 2011 .

[9]  O. Carsten.  Trucks involved in fatal accidents , 1984 .

[10]  P Sweatman,et al.  Productivity opportunities with steerable axles , 2002 .

[11]  Leo J J Kusters.  INCREASING ROLL-OVER SAFETY OF COMMERCIAL VEHICLES BY APPLICATION OF ELECTRONIC SYSTEMS , 1995 .

[12]  A. Bruce Dunwoody,et al.  Active Roll Control of a Semi-Trailer , 1993 .

[13]  M. El-Gindy,et al.  Self-steering axles: Theory and practice , 1989 .

[14]  Robin S. Sharp,et al.  OPTIMAL PREVIEW CAR STEERING CONTROL , 2001 .

[15]  C. B. Winkler,et al.  Rollover of heavy commercial vehicles , 1999 .

[16]  David Cebon,et al.  A Systems Approach to Controlled Heavy Vehicle Suspensions , 2005 .

[17]  H.-S. Jacob Tsao,et al.  Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following , 2007 .

[18]  Sadahiro Takahashi,et al.  Investigation into Turning Behavior of Semi - trailer with Additional Trailer - wheel Steering - - A Control Method for Trailer - wheel Steering to Minimize Trailer Rear - overhang Swing in Short Turns , 1991 .

[19]  László Palkovics,et al.  Roll-over prevention system for commercial vehicles - additional sensorless function of the electronic brake system , 1999 .

[20]  David Cebon,et al.  Path-Following Steering Control for Articulated Vehicles , 2013 .

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

[22]  David Cebon,et al.  Active Roll Control of Articulated Vehicles , 1996 .

[23]  Robin S. Sharp.  Stability, Control and Steering Responses of Motorcycles , 2001 .

[24]  M. J. Vanderploeg,et al.  Multiple Steered Axles for Reducing the Rollover Risks of Heavy Articulated Trucks , 1988 .