| ACTIVE LQR MULTI-AXLE-STEERING METHOD FOR IMPROVING MANEUVERABILITY AND STABILITY OF MULTI-TRAILER ARTICULATED HEAVY VEHICLES |
| Zhao Wen Deng 1,2, Qi Xian Zhao 3, You Qun Zhao 1, Bao Hua Wang 2, Wei Gao 2, Xin Xin Kong 2 |
1College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics
2College of Automotive Engineering, Hubei University of Automotive Technology
3Department of Computer Science & Engineering, University of Minnesota |
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| ABSTRACT |
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Directional performance and highway stability are two important aspects that need to be considered in
development and design of a heavy articulated vehicles. To improve the maneuverability and stability of a multi-trailer
articulated heavy vehicle (MTAHV), an active linear quadratic regulator (LQR) multi-axle-steering method is designed and
examined. First, a linear yaw-plane model with four-degree-of freedom (4-DOF) for MTAHV is built and validated. Thus, a
reference model supplying the desired state responses is introduced. Then, an active control algorithm of multi-axle-steering
for the rear axles of tractor and full-trailer is investigated, and a LQR controller is proposed based on the linear vehicle model
to make the control variables track the desired state responses. The control strategy concentrates on keeping the actual yaw rate
and side-slip angle follow the steady-state yaw rate and zero side-slip angle. Finally, the effectiveness of the designed approach
on enhancing the maneuverability and stability of the MTAHV have been validated through the simulations of the low-speed
360o roundabout and the single lane-change maneuver with high speed, respectively. The method has a certain reference value
for improving the active safety of the MTAHV. |
| Key Words:
Directional performance, Highway stability, Maneuverability, Multi-trailer articulated heavy vehicle, Linear quadratic regulator, Active multi-axle-steering, Path following off-tracking, Rearward amplification
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Corresponding Author.
You Qun Zhao , Email. 
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