Abstract
In this research, a five degree-of-freedom vehicle dynamics bicycle model is developed for a double tractor-trailer vehicle. Lagrange's equations are used to develop the equations of motion. Due to their complexity, the equations are symbolically derived using Maple. The equations are linearised and placed in state-space form; and, are numerically simulated using Matlab. Validation with TruckSim demonstrates the model's performance. At low forward speeds, the model closely represents the motions of the non-linear reference. As speed is increased, the model over-predicts the response, but the trends are similar. The differences are more pronounced with a heavy load condition. The model can be used to perform parametric stability studies and full numerical simulations, whereby state trajectories can be investigated at low lateral acceleration levels.
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