Authors: Nick T. Koussoulas; Stamatis Manesis
Addresses: Department of Electrical and Computer Engineering, University of Patras, Rio Patras GR-26500, Greece. ' Department of Electrical and Computer Engineering, University of Patras, Rio Patras GR-26500, Greece
Abstract: Jackknifing is a major cause of disasters in traffic accidents involving articulated trucks. In this work, we examine a tractor/semi-trailer combination that is equipped with a device which allows the kingpin junction to slide along the rear tractor axle. While braking, the articulated vehicle behaves much like an inverted pendulum moving on the horizontal plane. Control of the sliding kingpin motion allows us to stabilise the semi-trailer by compensating for its every deviation away from the nominal position. A simple proportional-derivative (PD) control law proved adequate for a wide variation of road conditions for straight line braking.
Keywords: articulated trucks; jackknifing; vehicle control; vehicle modelling; anti-jackknife devices; heavy vehicles; vehicle accidents; tractor semi-trailers; kingpin junction; sliding kingpin motion; vehicle stabilisation; PD control; straight line braking.
International Journal of Vehicle Systems Modelling and Testing, 2012 Vol.7 No.2, pp.105 - 134
Received: 26 Nov 2010
Accepted: 02 Oct 2011
Published online: 04 Aug 2012 *