Advanced

A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies

Gäfvert, Magnus LU and Lindgärde, Olof (2004) In Vehicle System Dynamics 41(1). p.51-82
Abstract
This paper describes a flexible and modular 9-degrees-of-freedomnonlinear dynamic handling model for a tractor-semitrailer combinationvehicle. The equations of motion are derived from the fundamentalequations of dynamics in Euler's formulation. The primary aim of themodel is simulations of handling scenarios with active yaw control,using unilateral braking and possibly tractor rear wheel steering. Theapplications of the model are not limited to this domain, but mayprove useful in other areas of tractor-semitrailer handling analysisor hardware-in-the-loop simulations. The model is formulated as astate-space model that may be implemented in standard simulationenvironments. A Simulink implementation is presented. Simulationresults are... (More)
This paper describes a flexible and modular 9-degrees-of-freedomnonlinear dynamic handling model for a tractor-semitrailer combinationvehicle. The equations of motion are derived from the fundamentalequations of dynamics in Euler's formulation. The primary aim of themodel is simulations of handling scenarios with active yaw control,using unilateral braking and possibly tractor rear wheel steering. Theapplications of the model are not limited to this domain, but mayprove useful in other areas of tractor-semitrailer handling analysisor hardware-in-the-loop simulations. The model is formulated as astate-space model that may be implemented in standard simulationenvironments. A Simulink implementation is presented. Simulationresults are compared with experiments to validate the model. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Vehicle System Dynamics
volume
41
issue
1
pages
51 - 82
publisher
Taylor & Francis
external identifiers
  • wos:000188842300003
  • scopus:0442279615
ISSN
1744-5159
DOI
10.1076/vesd.41.1.51.23408
language
English
LU publication?
yes
id
d1d05e7d-a8b4-4901-a070-b96319d138ea (old id 161410)
date added to LUP
2007-06-21 15:12:02
date last changed
2017-01-01 07:15:21
@article{d1d05e7d-a8b4-4901-a070-b96319d138ea,
  abstract     = {This paper describes a flexible and modular 9-degrees-of-freedomnonlinear dynamic handling model for a tractor-semitrailer combinationvehicle. The equations of motion are derived from the fundamentalequations of dynamics in Euler's formulation. The primary aim of themodel is simulations of handling scenarios with active yaw control,using unilateral braking and possibly tractor rear wheel steering. Theapplications of the model are not limited to this domain, but mayprove useful in other areas of tractor-semitrailer handling analysisor hardware-in-the-loop simulations. The model is formulated as astate-space model that may be implemented in standard simulationenvironments. A Simulink implementation is presented. Simulationresults are compared with experiments to validate the model.},
  author       = {Gäfvert, Magnus and Lindgärde, Olof},
  issn         = {1744-5159},
  language     = {eng},
  number       = {1},
  pages        = {51--82},
  publisher    = {Taylor & Francis},
  series       = {Vehicle System Dynamics},
  title        = {A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies},
  url          = {http://dx.doi.org/10.1076/vesd.41.1.51.23408},
  volume       = {41},
  year         = {2004},
}