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In this study, application of differential braking strategy to remove the oscillatory instability or snaking behavior of an articulated steer vehicle is presented. First, a linearized model of the vehicle is described that is used to represent the equations of motion in the state-space form. Then, this model is utilized for designing a sliding mode controller to adjust the differential braking on the rear axle to stabilize the vehicle during the snaking. The performance of the resulting active control system is evaluated in different driving conditions by using the linearized model. Finally, the control system is incorporated into a virtual prototype of the vehicle in ADAMS, and its operation is examined. The results from the linear model analysis and simulations in ADAMS are reasonably consistent.

This paper deals with an identification method for engine rigid body inertia properties based on available accelerometer data at mount locations. Unlike other rigid body direct physical parameter identification methods, here inertia properties are extracted from an assembled engine under operating conditions. In addition to acceleration responses, only mount dynamic stiffness measurements are required and there is no need to measure unbalance forces and moments of engine. Using a linear frequency-domain model of engine, mounts, and chassis, a general algorithm is developed.