Abstract
A nonlinear yaw model for dynamics of log hauling trucks is developed based on Kane's equations. The relationship between the articulation yaw angles, between the vehicle units, and the sliding length of the drawbar has been investigated using a new procedure and introduced into the governing equations of motion. Analytical expressions of equations of motion for a tractor/jeep/pole-trailer system are obtained. The numerical results for directional responses of the system, under some maneuvers, are checked against measured responses in field tests. Also a comparison of the results for the nonlinear and linear yaw models is carried out and the modifying effects of the nonlinear terms are noted.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
