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Vol. 16, Special Issue, November 2012, pp. 277-284

 

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Jackknife Control on Tractor Semi-trailer during High Speed Curve Driving
 
1 Shuwen Zhou and 2 Siqi Zhang

1 School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China

2 Traffic & Mechanical Engineering School, Shenyang Jianzhu University, Shenyang 110168, China

Tel.: ++86-24-83691095

E-mail: shwzhou@mail.neu.edu.cn

 

Received: 11 September 2012   /Accepted: 11 October 2012   /Published: 20 November 2012

Digital Sensors and Sensor Sysstems

 

Abstract: In this paper, the tractor semi-trailer kinematics was analyzed and a 3-dof model was used to design a full-order observer to estimate the articulation angle. The anti-jackknife control proposed in this paper will try to minimize tracking error between the desired tractor semi-trailer yaw rates and the actual yaw rates by selectively actuating braking system associated with the wheels of the tractor semi-trailer as soon as the articulation exceeds a preset threshold. The dynamics simulation results show that the anti-jackknife control system can improve the tractor semi-trailer lateral stability during high speed curve driving.

 

Keywords: Tractor semi-trailer, Anti-jackknife, Lateral stability, Curve driving

 

 

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