Abstract

The Gim tire model is adopted to set up the nonlinear four-wheel steering dynamic model of tractor- semitrailer. A four-wheel steering (4WS) with direct yaw-moment control (DYC) scheme is proposed. An optimal controller of DYC for the tractor-semitrailer stability is developed based on the model following technique. Based on the established dynamic model, simulation on a slip angle minimization four-wheel steering tractor-semitrailer in Matlab/Simulink software environment is described. The consults of a four-wheel steering tractor-semitrailer compared with front wheel steering, front wheel steering with direct yaw-moment control, four-wheel steering tractor-semitrailer is showed. The comparison suggests the handling and stability performance of four-wheel steering with direct yaw-moment control tractor-semitrailer is better, which makes the driver drive the vehicle normally.

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