A nonlinear autonomous roll model for heavy trucks' directional stability

Abstract

This paper gives a possibility to use a nonlinear nonautonomous roll model for studying an autonomous constant speed heavy truck with a nonlinear controlled suspension system. The roll model parametric analysis provides the influence of various geometric truck parameters that are important to the designer in stability viewpoint. The directional stability analysis of the truck, with the presence of a sudden impact on any truck-trailer wheels, is carried out by using the linear and the nonlinear modelling techniques. The directional stability of the truck due to linear and nonlinear parameter variations is also discussed in detail. This study shows that the nonlinear directional stability predictions are significant and provide more useful information than linear results that may enhance the selection of proper actuators and sensors for automation. The dynamic stability of the system is illustrated using parameters depended phase portraits. These phase portraits provide the impulsive force effect on truck's qualitative stability change.