Title :
Dynamic Modeling and Roll Control of Heavy Tractor-Semitrailer
Author :
Tianjun, Zhu ; Liyong, Jiang
Author_Institution :
Coll. of Mech. & Electron. Eng., HeBei Univ. of Eng., Handan, China
Abstract :
The paper sets up a simplified dynamic model for simulating the yaw/roll stability of heavy tractor-semitrailer using Matlab/Simulink. A linear quadratic regulator (LQR) based on partial-state feedback controller is used to optimize the roll stability of the vehicle. The control objective for optimizing roll stability is to be reducing the lateral load transfer rate while keeping the suspension angle less than the maximum allowable angle. The simulation result shows that the LQR controller is effective in the active roll stability control of the heavy tractor-semitrailer.
Keywords :
feedback; linear quadratic control; stability; traction; vehicle dynamics; LQR controller; Matlab-Simulink; control objective; dynamic modeling; heavy tractor-semitrailer; lateral load transfer rate; linear quadratic regulator; partial-state feedback controller; roll control; yaw-roll stability; Automotive engineering; Axles; Control system synthesis; Control systems; Design engineering; Mathematical model; Motion control; Road accidents; Stability; Vehicle dynamics; Tractor-semitrailer; lateral load transfer; linear quadratic regulator; roll stability;
Conference_Titel :
Circuits, Communications and Systems, 2009. PACCS '09. Pacific-Asia Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-0-7695-3614-9
DOI :
10.1109/PACCS.2009.44
