Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles
Göm menyn

Title:
Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles
Author:
Peter Sundström: Modelon AB, Sweden Bengt Jacobson: Chalmers University of Technology, Sweden Leo Laine: Volvo Group Trucks Technology, Sweden
DOI:
10.3384/ecp14096265
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
027
Pages:
265-271
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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A linear single-track model for articulated vehicles has been implemented. The model can represent an articulated vehicle with an arbitrary number of units each with an arbitrary number of axles. Lateral and yaw dynamics are in focus but longitudinal effects in couplings are also included. In the model; tire forces are linear with respect to slip angle. The couplings between units are represented as non-linear kinematic constraints which are valid for small and large articulation angles. Four use cases are presented: Inverse dynamics for feedforward control; frequency responses when varying parameters; steady-state evaluations and dynamic simulation. For these use cases; four parametrizations of the model are used corresponding to a tractor with a semitrailer a truck with a dolly and a semitrailer; an {A-double} (tractor+semitrailer+dolly+semitrailer) and an approximate version of an airport baggage carrier with five full trailers.

Keywords: Vehicle dynamics; vehicle models; articulated vehicles

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Peter Sundström, Bengt Jacobson, Leo Laine
Title:
Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles
DOI:
http://dx.doi.org/10.3384/ecp14096265
References:

[1] M. Lev√©n, A. Sj√∂blom, M. Lidberg, and B. Schofield, ‚ÄúDerivation of linear singletrack truck-dolly-semitrailer model with steerable axles,‚ÄĚ Department of Applied Mechanics, Chalmers University of Technology, Tech. Rep. 2011:09, 2011.

[2] M. G√§fvert and O. Lindg√§rde, ‚ÄúA 9-dof tractorsemitrailer dynamic handling model for advanced chassis control studies,‚ÄĚ Department of Automatic Control, Lund Institute of Technology, Tech. Rep. ISRN LUTFD2/TFRT‚Äď7597‚ÄďSE, 2001.

[3] S. Kharrazi, ‚ÄúSteering based lateral performance control of long heavy vehicle combinations,‚ÄĚ Ph.D. dissertation, Chalmers University of Technology, 2012.

[4] D. Vazquez-Vega, ‚ÄúDirectional analysis of an atrain double with damped articulation,‚ÄĚ Master‚Äôs thesis, Concordia Unversity, Montreal, 2000.

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Peter Sundström, Bengt Jacobson, Leo Laine
Title:
Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles
DOI:
http://dx.doi.org/10.3384/ecp14096265
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