Jackknifing Prevention of Tractor-Semitrailer Combination Using Active Braking Control Concordia University

Format:

Conference/Event

Author/Creator:

Li, Li, author.

Contributor:

Rakheja, Subhash

Conference Name:

SAE 2015 Commercial Vehicle Engineering Congress (2015-10-06 : Rosemont, Illinois, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2015

Summary:

AbstractVehicle jackknifing is generally associated with the loss of yaw stability, and is one of the most common cause of serious traffic accidents involving tractor-semitrailer combinations. In this paper, an active braking control strategy is proposed for jackknifing prevention of a tractor-semitrailer combination on a low friction road. The proposed control strategy is realized via upper-level and lower-level control structures considering braking of both the units. In the upper-level control, the required corrective yaw moments for tractor and semitrailer are generated using a PID controller aiming to reduce errors between the actual yaw rates of tractor-semitrailer and the target yaw rates deduced from a reference model. The corrective yaw moments are achieved through brake torque distribution among the tractor and semitrailer axle wheels in the lower-level control. The effectiveness of the proposed jackknifing prevention control is evaluated in a co-simulation environment involving Matlab/Simulink and TruckSim under two different maneuvers on a slippery road surface. Simulation results show that the proposed control approach is effective in jackknifing prevention of the tractor-semitrailer combinations under high speed maneuvers on low friction surfaces

Notes:

Vendor supplied data

Publisher Number:

2015-01-2746

Access Restriction:

Restricted for use by site license