A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies
(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:
https://lup.lub.lu.se/record/161410
- author
- Gäfvert, Magnus LU and Lindgärde, Olof
- organization
- publishing date
- 2004
- 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
- 2016-04-01 16:47:32
- date last changed
- 2022-01-28 22:12:15
@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}},
doi = {{10.1076/vesd.41.1.51.23408}},
volume = {{41}},
year = {{2004}},
}