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

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.

[1]  Yuping He,et al.  A Design Analysis Approach for Improving the Stability of Dynamic Systems with Application to the Design of Car-Trailer Systems , 2005 .

[2]  W. Kortüm Dlr,et al.  REVIEW OF MULTIBODY COMPUTER CODES FOR VEHICLE SYSTEM DYNAMICS , 1993 .

[3]  Yuping He,et al.  A parallel design optimisation method for articulated heavy vehicles with active safety systems , 2013 .

[4]  H Prem,et al.  COMPARISON OF MODELLING SYSTEMS FOR PERFORMANCE-BASED ASSESSMENT OF HEAVY VEHICLES (PERFORMANCE BASED STANDARDS: NRTC/AUSTROADS PROJECT A3 AND A4): WORKING PAPER , 2001 .

[5]  Yuping He,et al.  An Automated Design Method for Active Trailer Steering Systems of Articulated Heavy Vehicles , 2012 .

[6]  D. Cebon,et al.  An Investigation of Roll Control System Design for Articulated Heavy Vehicles , 1998 .

[7]  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 .

[8]  Yuping He,et al.  Design of an active trailer-steering system for multi-trailer articulated heavy vehicles using real-time simulations , 2013 .

[9]  John McPhee,et al.  A Review of Automated Design Synthesis Approaches for Virtual Development of Ground Vehicle Suspensions , 2007 .

[10]  John M. Starkey,et al.  EFFECTS OF MODEL COMPLEXITY ON THE PERFORMANCE OF AUTOMATED VEHICLE STEERING CONTROLLERS : MODEL DEVELOPMENT, VALIDATION AND COMPARISON , 1995 .

[11]  Yuping He,et al.  An Integrated Design Method for Articulated Heavy Vehicles with Active Trailer Steering Systems , 2010 .

[12]  Michael W. Sayers,et al.  VEHICLE MODELS FOR RTS APPLICATIONS , 1999 .

[13]  J. Y. Wong,et al.  A Comparison of Various Computer Simulation Models for Predicting the Directional Responses of Articulated Vehicles , 1987 .

[14]  Michael W. Sayers,et al.  A GENERIC MULTIBODY VEHICLE MODEL FOR SIMULATING HANDLING AND BRAKING , 1996 .

[15]  R. J. Anderson,et al.  HANDLlNG-CHARACTERISTICS SIMULATIONS OF CAR-TRAILER SYSTEMS , 1980 .

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

[17]  Jonas Fredriksson,et al.  A generic controller for improving lateral performance of heavy vehicle combinations , 2013 .

[18]  John McPhee,et al.  Optimization of the Lateral Stability of Rail Vehicles , 2002 .

[19]  Yuping He,et al.  A closed-loop dynamic simulation-based design method for articulated heavy vehicles with active trailer steering systems , 2012 .

[20]  John M. Starkey,et al.  EFFECTS OF MODEL COMPLEXITY ON THE PERFORMANCE OF AUTOMATED VEHICLE STEERING CONTROLLERS : CONTROLLER DEVELOPMENT AND EVALUATION , 1994 .

[21]  Theodore J. Rosenthal,et al.  STEADY STATE AND TRANSIENT ANALYSIS OF GROUND VEHICLE HANDLING , 1987 .

[22]  Paul S. Fancher,et al.  Directional performance issues in evaluation and design of articulated heavy vehicles , 2007 .

[23]  Huei Peng,et al.  WORST-CASE VEHICLE EVALUATION METHODOLOGY : EXAMPLES ON TRUCK ROLLOVER/JACKKNIFING AND ACTIVE YAW CONTROL SYSTEMS , 1999 .

[24]  Tao Sun,et al.  Dynamics Analysis of Car-Trailer Systems with Active Trailer Differential Braking Strategies , 2014 .

[25]  Jing Ren,et al.  A Comparative Study of Car-Trailer Dynamics Models , 2013 .

[26]  T D Gillespie,et al.  Constant velocity yaw/roll program: user's manual , 1982 .