Advanced

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

Gäfvert, Magnus LU and Lindgärde, Olof (2001) In Report TFRT 7597.
Abstract
A nonlinear dynamic handling model for a tractor-semitrailer combination vehicle is presented in this report. The equations of motion are derived from the fundamental equations of dynamics in Euler's formulation without approximations. The model is modular in the sense that it is easy to change axle configuration, tyre model, suspension model, or to add new features. The primary aim of the model is simulations of handling scenarios with active yaw control, using unilateral braking and possibly tractor rear wheel steering. Other applications of the model may include real-time hardware-in-the-loop simulations of tractor-semitrailer handling scenarios. The model is formulated as a state-space model that may be implemented in standard... (More)
A nonlinear dynamic handling model for a tractor-semitrailer combination vehicle is presented in this report. The equations of motion are derived from the fundamental equations of dynamics in Euler's formulation without approximations. The model is modular in the sense that it is easy to change axle configuration, tyre model, suspension model, or to add new features. The primary aim of the model is simulations of handling scenarios with active yaw control, using unilateral braking and possibly tractor rear wheel steering. Other applications of the model may include real-time hardware-in-the-loop simulations of tractor-semitrailer handling scenarios. The model is formulated as a state-space model that may be implemented in standard simulation environments. A Simulink (TM) implementation is presented. Simulation results 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
Book/Report
publication status
published
subject
in
Report TFRT
volume
7597
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
ISSN
0280-5316
language
English
LU publication?
yes
id
05e09d66-6185-445a-a75b-983e13b1edca (old id 8602689)
date added to LUP
2016-02-15 19:16:23
date last changed
2018-05-29 10:12:12
@techreport{05e09d66-6185-445a-a75b-983e13b1edca,
  abstract     = {A nonlinear dynamic handling model for a tractor-semitrailer combination vehicle is presented in this report. The equations of motion are derived from the fundamental equations of dynamics in Euler's formulation without approximations. The model is modular in the sense that it is easy to change axle configuration, tyre model, suspension model, or to add new features. The primary aim of the model is simulations of handling scenarios with active yaw control, using unilateral braking and possibly tractor rear wheel steering. Other applications of the model may include real-time hardware-in-the-loop simulations of tractor-semitrailer handling scenarios. The model is formulated as a state-space model that may be implemented in standard simulation environments. A Simulink (TM) implementation is presented. Simulation results are compared with experiments to validate the model.},
  author       = {Gäfvert, Magnus and Lindgärde, Olof},
  institution  = {Department of Automatic Control, Lund Institute of Technology (LTH)},
  issn         = {0280-5316},
  language     = {eng},
  series       = {Report TFRT},
  title        = {A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies},
  volume       = {7597},
  year         = {2001},
}