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Dorsal Column Steerability with Dual Parallel Leads using Dedicated Power Sources: A Computational Model
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High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer
Yu Hou1, Xiaomei Xu1
1College of Automobile and Traffic Engineering, Nanjing Forestry University, Nanjing, China.
Plos One
|November 14, 2022
Summary
An active trailer steering (ATS) controller enhances tractor-semitrailer stability and tracking. This system improves vehicle control during high-speed lane changes without negatively impacting the tractor.
Area of Science:
- Vehicle Dynamics and Control
- Automotive Engineering
- Robotics
Background:
- Tractor-semitrailer vehicles are prone to instability, especially during high-speed maneuvers.
- Improving lateral stability and trajectory tracking is crucial for safe operation.
Purpose of the Study:
- To design and validate an active trailer steering (ATS) controller for enhanced tractor-semitrailer performance.
- To investigate the controller's effectiveness in improving lateral stability and trajectory tracking.
Main Methods:
- A linear yaw-roll dynamic model of the tractor-semitrailer was established and verified.
- A linear quadratic regulator (LQR) controller was designed for active trailer wheel steering.
- Co-simulation was used to test the controller under single lane-change (SLC) and double lane-change (DLC) maneuvers.
Main Results:
- The LQR controller significantly improved lateral stability and trailer trajectory tracking during high-speed SLC maneuvers.
- The controller demonstrated minimal impact on the tractor's trajectory and dynamic responses.
- Under high-speed DLC maneuvers, the controller enabled rapid stabilization and improved overall vehicle performance.
Conclusions:
- The developed active trailer steering controller effectively enhances tractor-semitrailer safety and performance.
- The LQR-based ATS controller is a viable solution for high-speed stability and trajectory control challenges.
- Further research can explore advanced control strategies for even greater performance gains.
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