Title: Experimental assessment of a PID control solution for braking safety of transportation by agricultural tractor trailer combinations

Authors: Eyub Canli; Kazim Carman; Serhat Soylu; Ergun Citil

Addresses: Faculty of Technology, Department of Mechanical Engineering, Selcuk University, Ardicli, Alaaddin Keykubat Kampüsü, 42250, Selcuklu, Konya, Turkey ' Faculty of Agriculture, Department of Agricultural Machinery Engineering, Selcuk Universitesi, Ardicli, Alaaddin Keykubat Kampüsü, 42250, Selcuklu, Konya, Turkey ' Faculty of Technology, Department of Mechanical Engineering, Selcuk University, Ardicli, Alaaddin Keykubat Kampüsü, 42250, Selcuklu, Konya, Turkey ' Faculty of Agriculture, Department of Agricultural Machinery Engineering, Selcuk Universitesi, Ardicli, Alaaddin Keykubat Kampüsü, 42250, Selcuklu, Konya, Turkey

Abstract: Huge numbers of agricultural tractor trailer combinations are used for transportation. Many of the combinations rely on over-run braking on trailers. On-road transportation by the combination is being increased by increasing speed and mass capacities due to market pressure. A significant braking safety issue during on-road transportation is dealt with in this work. Proportional integral derivative (PID) control is proposed as a transitional solution towards domination of new tech equipment. Conventional and proposed PID brake controls were compared experimentally by a loaded real world scale agricultural tractor trailer combination. A double axle (front and rear) trailer with 8 tons load was used for dry asphalt road conditions and 0.35 seconds lag time detected between manual and PID controlled braking. Loss of driving stability was reduced by 50% and deceleration increased 21% with PID. Jack-knifing phenomenon is also evaluated. Proposed solution covers an important safety issue and improves braking performance.

Keywords: deceleration; emergency braking; jack-knifing; over-run brake; transportation.

DOI: 10.1504/IJHVS.2023.132318

International Journal of Heavy Vehicle Systems, 2023 Vol.30 No.2, pp.211 - 231

Received: 21 Apr 2022
Accepted: 21 Jun 2022
Published online: 18 Jul 2023 *

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