A numerical control algorithm for a B-double truck–trailer with steerable trailer wheels and active hitch angles

This paper presents a new algorithm for the control of a B-double truck–trailer with steerable trailer wheels and active hitch angles, designed to minimize both off-tracking and scuffing. Each trailer has six autonomously steered double wheels, although each double wheel is modelled by a centrally placed single wheel. Each hitch point, joining truck to first trailer and first trailer to second trailer, as well as a nominated point central to the axles of the second trailer, traverses the same path which is determined by an operator controlling the path curvature and truck speed. The algorithm approximates the ideal solution in which all wheels on each trailer have the same centre of curvature. The actively controlled hitch angles, satisfying the path-following constraints, provide a further level of cooperative redundancy of steering systems. Simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles, and hitch angles as well as the accuracy of the algorithm. Further simulation is carried out to show the improvement in off-tracking of the new control system over current B-double fixed-wheel systems.

• Record URL:
  http://pid.sagepub.com/content/226/3/289
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/09544070
• Supplemental Notes:
  • Reprinted by permission of Sage Publications, Ltd.
• Authors:
  • Percy, A
  • Spark, I
• Publication Date: 2012-3

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References;
• Pagination: pp 289-300
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
  • Volume: 226
  • Issue Number: 3
  • Publisher: Sage Publications Limited
  • ISSN: 0954-4070
  • EISSN: 2041-2991
  • Serial URL: http://pid.sagepub.com/content/current

Subject/Index Terms

• TRT Terms: Control systems; Hitches; Redundancy; Simulation; Tracking systems; Tractor trailer combinations; Trajectory control; Vector analysis; Wheels
• Subject Areas: Freight Transportation; Vehicles and Equipment; I90: Vehicles;

Filing Info

• Accession Number: 01366303
• Record Type: Publication
• Files: TRIS
• Created Date: Mar 29 2012 7:14AM