A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.
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March 2014
Research-Article
Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds
Richard Roebuck,
Richard Roebuck
Cambridge University Engineering Department
,Trumpington Street
,Cambridge CB2 1PZ
, UK
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Andrew Odhams,
Andrew Odhams
Cambridge University Engineering Department
,Trumpington Street
,Cambridge CB2 1PZ
, UK
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Kristoffer Tagesson,
Kristoffer Tagesson
Volvo Group Trucks Technology,
Dept BF72991
, AB4S,Göteborg SE-405 08
, Sweden
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Caizhen Cheng,
Trumpington Street,
Caizhen Cheng
Cambridge University Engineering Department
,Trumpington Street,
Cambridge CB2 1PZ
, UK
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David Cebon
Trumpington Street,
e-mail: dc@eng.cam.ac.uk
David Cebon
1
Cambridge University Engineering Department
,Trumpington Street,
Cambridge CB2 1PZ
, UK
e-mail: dc@eng.cam.ac.uk
1Corresponding author.
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Richard Roebuck
Cambridge University Engineering Department
,Trumpington Street
,Cambridge CB2 1PZ
, UK
Andrew Odhams
Cambridge University Engineering Department
,Trumpington Street
,Cambridge CB2 1PZ
, UK
Kristoffer Tagesson
Volvo Group Trucks Technology,
Dept BF72991
, AB4S,Göteborg SE-405 08
, Sweden
Caizhen Cheng
Cambridge University Engineering Department
,Trumpington Street,
Cambridge CB2 1PZ
, UK
David Cebon
Cambridge University Engineering Department
,Trumpington Street,
Cambridge CB2 1PZ
, UK
e-mail: dc@eng.cam.ac.uk
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 11, 2013; final manuscript received October 21, 2013; published online December 16, 2013. Assoc. Editor: Shankar Coimbatore Subramanian.
J. Dyn. Sys., Meas., Control. Mar 2014, 136(2): 021016 (14 pages)
Published Online: December 16, 2013
Article history
Received:
April 11, 2013
Revision Received:
October 21, 2013
Citation
Roebuck, R., Odhams, A., Tagesson, K., Cheng, C., and Cebon, D. (December 16, 2013). "Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 021016. https://doi.org/10.1115/1.4025815
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