Title :
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
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;
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
DOI :
10.1109/ICMTMA.2010.342
