Estimation of Articulation Angle for Tractor Semi-trailer Based on State Observer

Author

Chu, Liang ; Fang, Yong ; Shang, Mingli ; Guo, Jianhua ; Zhou, Feikun

Author_Institution

State Key Lab. of Automobile Dynamic Simulation, Jilin Univ., Changchun, China

Volume

2

fYear

2010

fDate

13-14 March 2010

Firstpage

158

Lastpage

163

Abstract

Jackknife is an unstable state of tractor semi-trailer combination, and there is no sensor available to detect the jackknife or measure the hitch articulation angle. A state observer is designed to estimate the articulation angle, where a 3 DOF tractor semi-trailer linear model is used. The steering wheel angle sensors, lateral acceleration sensor, yaw rate sensor and axle load sensor of electronic stability control system for commercial vehicle are available here, and the signals are used in the state observer. Utilized road adhesion coefficient is estimated with lateral acceleration to correct the linear tire model. The observer is validated on a 21 DOF tractor semi-trailer nonlinear model, the simulation results shown that the estimated articulation angle is accurate in either linear area or nonlinear area of tire lateral force model.

Keywords

nonlinear control systems; position control; road vehicles; stability; steering systems; articulation angle estimation; axle load sensor; electronic stability control system; lateral force model; nonlinear model; state observer; steering wheel angle sensors; tractor semitrailer; yaw rate sensor; Acceleration; Axles; Control systems; Observers; Sensor systems; Stability; State estimation; Tires; Vehicles; Wheels; articulation angle; jackknife; semi-trailer; state observer; tractor;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on

Conference_Location

Changsha City

Print_ISBN

978-1-4244-5001-5

Electronic_ISBN

978-1-4244-5739-7

Type

conf

DOI

10.1109/ICMTMA.2010.342

Filename

5459910