Derivation and Validation of New Analytical Planar Models for Simulating Multi-Axle Articulated Vehicles 2004-01-1784
This paper discusses the derivation and validation of planar models of articulated vehicles that were developed to analyze jackknife stability on low-μ surfaces. The equations of motion are rigorously derived using Lagrange's method, then linearized for use in state-space models. The models are verified using TruckSim™, a popular nonlinear solid body vehicle dynamics modeling package. The TruckSim™ models were previously verified using extensive on-vehicle experimental data [1, 2]. A three-axle articulated model is expanded to contain five axles to avoid lumping the parameters for the drive and semitrailer tandems. Compromises inherent in using the linearized models are discussed and evaluated.
Finally, a nonlinear tire cornering force model is coupled with the 5-axle model, and its ability to simulate a jackknife event is demonstrated. The model is shown to be valid over a wide range of inputs, up to and including loss of control, on low-and-medium-μ surfaces.
Citation: Dunn, A., Heydinger, G., Rizzoni, G., and Guenther, D., "Derivation and Validation of New Analytical Planar Models for Simulating Multi-Axle Articulated Vehicles," SAE Technical Paper 2004-01-1784, 2004, https://doi.org/10.4271/2004-01-1784. Download Citation
Ashley L. Dunn, Gary J. Heydinger, Giorgio Rizzoni, Dennis A. Guenther
The Ohio State University
SAE 2004 World Congress & Exhibition
SAE 2004 Transactions Journal of Passenger Cars: Mechanical Systems-V113-6