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Truck Model for Yaw and Roll Dynamics Control

Gäfvert, Magnus LU ; Sanfridsson, Martin and Claesson, Vilgot (2000) In Report 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.
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author
organization
publishing date
type
Book/Report
publication status
published
subject
in
Report TFRT
volume
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
2016-02-15 18:56:09
date last changed
2016-04-16 04:33:57
@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       = {Report TFRT},
  title        = {Truck Model for Yaw and Roll Dynamics Control},
  volume       = {7588},
  year         = {2000},
}