A new method for off-tracking eliminating in a tractor semi-trailer Online publication date: Thu, 10-Mar-2016
by S. Hamed Tabatabaei Oreh; Reza Kazemi; Shahram Azadi
International Journal of Heavy Vehicle Systems (IJHVS), Vol. 23, No. 2, 2016
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.
Online publication date: Thu, 10-Mar-2016
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Heavy Vehicle Systems (IJHVS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email firstname.lastname@example.org