Abstract
To master the basic characteristics of steady-state cornering for a semitrailer, this paper summarises the current modelling methods for handling and stability and discusses their limitations. The classical linear mathematical model for a two-degree-of-freedom (DOF) handling and stability system is used to develop a new model. Analysis methods are proposed to introduce the influence of the camber angle and body roll into the model parameters. Thus, a mathematical model for the lateral stability of semitrailer with five DOFs is established. At the same time, a modified formula to calculate the stability factor of the semitrailer is developed with a MATLAB model to solve the dynamic state equation. The mathematical model, which considers the body roll and the changes in the camber angle caused by roll, compares the turning radius ratio and yaw rate as the evaluation index with the classical linear mathematical model of a two-DOF system. The vehicle parameters for three different types of semi-tractor trailers are used to calculate and compare two mathematical models for handling and stability using real vehicle test data. The results show that the new modelling and analysis method proposed in this paper has a high calculation accuracy and fast calculation speed, is clear and concise, and is consistent with the real vehicle test data. In addition, the accuracy of the new mathematical model for handling and stability and the improved stability factor are verified.
Highlights
To master the basic characteristics of steady-state cornering for a semitrailer, this paper summarises the current modelling methods for handling and stability and discusses their limitations. e classical linear mathematical model for a two-degree-offreedom (DOF) handling and stability system is used to develop a new model
Some achievements have been made in the theoretical research on the steady-state steering characteristics of semitrailer.: Wu [6] established a five-degree-offreedom- (DOF-) articulated vehicle using a multisteering mathematical model. e basic analytical results of the yaw/ roll performance characteristics were presented, and the effects of the roll steer about the lateral force under steadystate turning were discussed and illustrated. e mathematical model considered the influence of roll on the steadystate steering, but it did not account for the influence of the camber angle of the tire as caused by roll, suggesting their model has some limitations
Zhang et al [9] proposed an analytical lateral dynamic model for skid steering with a wheeled vehicle that could be applied to its design and control. e model is described using second-order ordinary differential equations in an explicit form, and the steady-state characteristics of skid steering for wheeled vehicles were analysed based on differential equations
Summary
E steady-state steering characteristics of vehicles have been studied using a variety of methods, but the influence of changes in the camber angle of the tires as caused by roll was not considered in previous mathematical models. Is paper presents an established mathematical model for the manoeuvring stability of a vehicle based on the linear mathematical model with two DOFs. To improve the accuracy of the steady-state model for the vehicle steering stability, the influence of the camber angle caused by roll and body roll into the model parameters is proposed. E mathematical model considers body roll and changes in the camber angle as caused by roll and was used to compare the yaw rate as the evaluation index with the classical two-DOF linear model. E results show that, for the yaw rat, the steady-state error is controlled to within 0.23°/s, the peak error is controlled to within 0.28°/s, the overshoot error is controlled to within 1.9%, and the response time error is controlled within 0.02 s. e calculation results from the mathematical model, 1.678 h1 1.08 h2
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