Trailer steering: an Australian research perspective and application for by-wire control

Dangerous goods vehicles, in particular those carrying fluid loads, have been identified as needing to meet stringent performance requirements within the Performance Based Standards (PBS) developed by the National Roads and Transport Commission in Australia. This paper illustrates the modelling approach taken for the development of a trailer steer control algorithm, in which the hitch angle between successive articulated units is allowed to be large (in contrast to most previous work where small angle assumptions are made). It is shown by comparison with simulations performed with a complex, nonlinear 3D model that a single-track, yaw-plane model with linear tyre behaviour (but large hitch angles) is able to capture the dynamics effects important for trailer tracking control (including the onset of jackknife). A partial feedback-linearising controller is developed, which seeks to make the axle of each semitrailer unit track the path of the preceding hitch point. It is shown that considerable improvements in low-speed off-tracking can be made, and that rearward amplification of lateral accelerations at high-speeds can be reduced.

• Record URL:
  • http://road-transport-technology.org/conferenceproceedings/ishvwd-9/
• Authors:
  • Fletcher, C
  • Manzie, C
  • Good, M
• Conference:
  • International Symposium on Heavy Vehicle Weights and Dimensions, 9th, 2006, State College, Pennsylvania, USA
• Publication Date: 2006-6

Language

• English

Media Info

• Pagination: 12p
• Monograph Title: 9th International Symposium on Heavy Vehicle Weights and Dimensions, June 18-22, 2006, Pennsylvania State University, State College, Pennsylvania

Subject/Index Terms

• TRT Terms: Compliance; Driving; Hazardous materials; Heavy duty vehicles; Heavy vehicles; Mathematical models; Regulations; Steering; Tank trucks; Trailers; Vehicle dynamics; Yaw
• Uncontrolled Terms: Heavy vehicles and Mining
• ATRI Terms: Articulated vehicle; Compliance; Dangerous goods; Heavy vehicle; Modelling; Steering; Tanker; Trailer; Vehicle dynamics; Vehicle handling; Vehicle regulations; Yawing
• Subject Areas: Law; Motor Carriers;

Filing Info

• Accession Number: 01388843
• Record Type: Publication
• Source Agency: ARRB
• Files: ATRI
• Created Date: Aug 23 2012 1:20AM