Dynamic Modeling and Roll Control of Heavy Tractor-Semitrailer

Author

Tianjun, Zhu ; Liyong, Jiang

Author_Institution

Coll. of Mech. & Electron. Eng., HeBei Univ. of Eng., Handan, China

fYear

2009

fDate

16-17 May 2009

Firstpage

508

Lastpage

511

Abstract

The paper sets up a simplified dynamic model for simulating the yaw/roll stability of heavy tractor-semitrailer using Matlab/Simulink. A linear quadratic regulator (LQR) based on partial-state feedback controller is used to optimize the roll stability of the vehicle. The control objective for optimizing roll stability is to be reducing the lateral load transfer rate while keeping the suspension angle less than the maximum allowable angle. The simulation result shows that the LQR controller is effective in the active roll stability control of the heavy tractor-semitrailer.

Keywords

feedback; linear quadratic control; stability; traction; vehicle dynamics; LQR controller; Matlab-Simulink; control objective; dynamic modeling; heavy tractor-semitrailer; lateral load transfer rate; linear quadratic regulator; partial-state feedback controller; roll control; yaw-roll stability; Automotive engineering; Axles; Control system synthesis; Control systems; Design engineering; Mathematical model; Motion control; Road accidents; Stability; Vehicle dynamics; Tractor-semitrailer; lateral load transfer; linear quadratic regulator; roll stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits, Communications and Systems, 2009. PACCS '09. Pacific-Asia Conference on

Conference_Location

Chengdu

Print_ISBN

978-0-7695-3614-9

Type

conf

DOI

10.1109/PACCS.2009.44

Filename

5232398