Trailer Stabilization with AFS
(2007) In MSc ThesesDepartment of Automatic Control
- Abstract
- People that have driven a car with a trailer at high speed know that the trailer can begin to oscillate. This oscillation is known as snake behavior. How much the car and trailer starts to oscillate depends on how the trailer is loaded. An empty trailer does not tend to oscillate, while a heavy loaded trailer, with the load centered over the trailer axle, oscillates more easily. For a normal person driving a car and trailer which has started to oscillate, it is not possible to reduce the oscillations in any other way then to lower the speed. A car with AFS (Active Front Steering) can use the steering angle of the front wheels as a counter reaction to the oscillation, and prevent an accident to occur. For analysis and controller derivation... (More)
- People that have driven a car with a trailer at high speed know that the trailer can begin to oscillate. This oscillation is known as snake behavior. How much the car and trailer starts to oscillate depends on how the trailer is loaded. An empty trailer does not tend to oscillate, while a heavy loaded trailer, with the load centered over the trailer axle, oscillates more easily. For a normal person driving a car and trailer which has started to oscillate, it is not possible to reduce the oscillations in any other way then to lower the speed. A car with AFS (Active Front Steering) can use the steering angle of the front wheels as a counter reaction to the oscillation, and prevent an accident to occur. For analysis and controller derivation a kinetic model for the car and trailer is derived. Two sorts of controllers are investigated, a linearized model of the system is used to derive a linear controller and linearization feedback with a linear controller. Controlling on the car's yaw rate, the car-trailer angle and the time derivative of the car-trailer angle is tested. Only controlling on the car's yaw rate worked well while controlling the car-trailer angle and it's time derivative did not work, probably because the reference value calculations was not good enough. The system was implemented in a development car and evaluated at a test track, performing normal driving situations at high speeds. The test results clearly showed that the controller worked as expected, and that almost all oscillations were damped. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847708
- author
- Nilsson, Martin
- supervisor
- organization
- year
- 2007
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5788
- ISSN
- 0280-5316
- language
- English
- id
- 8847708
- date added to LUP
- 2016-03-17 13:12:36
- date last changed
- 2016-03-17 13:12:36
@misc{8847708,
abstract = {{People that have driven a car with a trailer at high speed know that the trailer can begin to oscillate. This oscillation is known as snake behavior. How much the car and trailer starts to oscillate depends on how the trailer is loaded. An empty trailer does not tend to oscillate, while a heavy loaded trailer, with the load centered over the trailer axle, oscillates more easily. For a normal person driving a car and trailer which has started to oscillate, it is not possible to reduce the oscillations in any other way then to lower the speed. A car with AFS (Active Front Steering) can use the steering angle of the front wheels as a counter reaction to the oscillation, and prevent an accident to occur. For analysis and controller derivation a kinetic model for the car and trailer is derived. Two sorts of controllers are investigated, a linearized model of the system is used to derive a linear controller and linearization feedback with a linear controller. Controlling on the car's yaw rate, the car-trailer angle and the time derivative of the car-trailer angle is tested. Only controlling on the car's yaw rate worked well while controlling the car-trailer angle and it's time derivative did not work, probably because the reference value calculations was not good enough. The system was implemented in a development car and evaluated at a test track, performing normal driving situations at high speeds. The test results clearly showed that the controller worked as expected, and that almost all oscillations were damped.}},
author = {{Nilsson, Martin}},
issn = {{0280-5316}},
language = {{eng}},
note = {{Student Paper}},
series = {{MSc Theses}},
title = {{Trailer Stabilization with AFS}},
year = {{2007}},
}