Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Truck Model for Yaw Dynamics Control

Gäfvert, Magnus LU ; Sanfridsson, Martin and Claesson, Vilgot (2000) In Technical Reports TFRT-7588
Abstract
This report describes the derivation of a nonlinear model of a tractor-semitrailer combination vehicle. The purpose of the model is validation of yaw-control algorithms. The model include 4 DOF in lateral, longitudinal, and yaw motion. It is formulated as a state-spece model with 5 state variables. Additional states are added with the rotational dynamics of the wheels. The model includes a static description of load-transfer, and a fairly detailed tyre model. A linearized version of the model is also presented. The nonlinear model is implemented in Simulink (TM). Validation is performed by comparison with a multibody model. Examples of simulation outputs are given.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Book/Report
publication status
published
subject
in
Technical Reports TFRT-7588
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
ISSN
0280-5316
language
English
LU publication?
yes
id
7ca18b2b-7341-4d19-b5ad-6f96fb87d198 (old id 8602712)
date added to LUP
2016-04-01 16:35:05
date last changed
2018-11-21 20:42:33
@techreport{7ca18b2b-7341-4d19-b5ad-6f96fb87d198,
  abstract     = {{This report describes the derivation of a nonlinear model of a tractor-semitrailer combination vehicle. The purpose of the model is validation of yaw-control algorithms. The model include 4 DOF in lateral, longitudinal, and yaw motion. It is formulated as a state-spece model with 5 state variables. Additional states are added with the rotational dynamics of the wheels. The model includes a static description of load-transfer, and a fairly detailed tyre model. A linearized version of the model is also presented. The nonlinear model is implemented in Simulink (TM). Validation is performed by comparison with a multibody model. Examples of simulation outputs are given.}},
  author       = {{Gäfvert, Magnus and Sanfridsson, Martin and Claesson, Vilgot}},
  institution  = {{Department of Automatic Control, Lund Institute of Technology (LTH)}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  series       = {{Technical Reports TFRT-7588}},
  title        = {{Truck Model for Yaw Dynamics Control}},
  url          = {{https://lup.lub.lu.se/search/files/4715865/8627759.pdf}},
  year         = {{2000}},
}