Abstract
SUMMARY In this paper some results of theoretical and experimental investigations on the dynamic directional properties of heavy tractor-semitrailer vehicles are presented. A nonlinear digital computer model was developed on which the theoretical system analysis is based. This model takes account of the nonUnear tire properties and the friction couple of the fifth wheel. A combination of numerical computation methods (Runge-Kutta and Newton-Raphson techniques) is used for the digital computer simulation. Full scale road tests with articulated vehicles of 38 ton total weight were conducted for experimental validation of the used theoretical model. As input signals to the vehicle, predetermined steering wheel angle functions were used. The system output signals corresponding to these input functions were measured and stored. A comparison of the obtained theoretical and experimental results shows a very good qualitative agreement and hence leads to the conclusion that the developed theoretical model can give...
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