Title: A new method for off-tracking eliminating in a tractor semi-trailer

Authors: S. Hamed Tabatabaei Oreh; Reza Kazemi; Shahram Azadi

Addresses: Department of Mechanical Engineering, K. N. Toosi University of Technology, 19, Pardis Alley, Mollasadra Ave., Vanak Sq., Tehran, Iran ' Department of Mechanical Engineering, K. N. Toosi University of Technology, 19, Pardis Alley, Mollasadra Ave., Vanak Sq., Tehran, Iran ' Department of Mechanical Engineering, K. N. Toosi University of Technology, 19, Pardis Alley, Mollasadra Ave., Vanak Sq., Tehran, Iran

Abstract: A new method is presented to eliminate the off-tracking leading to manoeuvrability improvement of a tractor semi-trailer. A reference model generating a desired articulation angle is derived based on geometric and kinematic analysis. The tracking of the desired value ensures that the rear end of the semi-trailer unit follows the path of the fifth wheel. The inputs to the reference model are the yaw rate, longitudinal and lateral velocity of the tractor unit, while the output is the desired articulation angle. A fuzzy-supervised PID controller is designed to make the actual articulation angle track the proposed desired value by active semi-trailer steering. Computer simulations including low speed 360 degree turn and high speed lane change manoeuvres show the significant effects of the proposed method on improving the manoeuvrability of the articulated vehicle. Furthermore, the sensitivity of the method against the errors in the input variables of the reference model is evaluated.

Keywords: articulated vehicles; off-tracking; desired articulation angle; vehicle dynamics; semi-trailer steering; tractor semi-trailers; heavy vehicles; manoeuvrability improvement; geometric analysis; kinematic analysis; reference models; yaw rate; longitudinal velocity; lateral velocity; fuzzy control; PID controllers; active steering; simulation; low speed turns; 360 degree turns; high speed lane changing.

DOI: 10.1504/IJHVS.2016.075490

International Journal of Heavy Vehicle Systems, 2016 Vol.23 No.2, pp.107 - 130

Available online: 10 Mar 2016 *

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