Design of an active trailer-steering system for multi-trailer articulated heavy vehicles using real-time simulations

作者：Ding Xuejun; Mikaric Steve; He Yuping^*

来源：Proceedings of the Institution of Mechanical Engineers - Part D: Journal of Automobile Engineering , 2013, 227(5): 643-655.

DOI：10.1177/0954407012461223

• Design synthesis
• directional performance
• active trailer-steering
• multi-trailer articulated heavy vehicles
• driver-software-in-the-loop
• real-time simulations

This paper presents the design for an active trailer-steering system of multi-trailer articulated heavy vehicles using driver-software-in-the-loop real-time simulations. A linear yaw-plane multi-trailer articulated heavy-vehicle model is generated to derive an optimal active trailer-steering controller. Then, the controller is reconstructed in LabVIEW and integrated with a vehicle model for a tractor- double-trailer combination developed in TruckSim. The driver-software-in-the-loop real-time simulations are conducted on a vehicle simulator. The driver-software-in-the-loop real-time simulations indicate that the active trailer-steering controller can effectively improve the low-speed manoeuvrability and high-speed stability of the multi-trailer articulated heavy vehicle when testing using a low-speed 360 degrees roundabout path-following manoeuvre and a high-speed single-lane-change manoeuvre respectively. The investigation based on the driver-software-in-the-loop real-time simulations paves the way to future development of electronic control units for the active trailer-steering system using driver-hardware-in-the-loop real-time simulations.

• 出版日期2013