吉林大学学报(工学版) ›› 2012, Vol. 42 ›› Issue (02): 272-278.

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Feedback linearization for steering stability control of tractor-semitrailer

XU Hong-guo, PENG Tao, LIU Hong-fei, XU Yan   

  1. College of Transportation, Jilin University, Changchun 130022, China
  • Received:2011-04-15 Online:2012-03-01 Published:2012-03-01

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Abstract: A nonlinear dynamic model was built for the tractor-semitrailer and the high-speed steering stability on the low adhesive coefficient road, such as icy and snowy roads, was analyzed. The steady critical steering angles of the front wheel at the speed range of 16.7~25.0 m/s were estimated using the genetic algorithm and the phase plane method. Based on the linearization tracking theory of the nonlinear feedback, a combined feedforward and feedback controller was designed to control the front wheel active steering and the saddle direct yaw moment of the tractor-semitrailer. The simulation of vehicle urgent step steering and single lane change at high speed driving condition showed that the designed controller can improve the lateral stability of the tractor-semitrailer.

Key words: vehicle engineering, tractor-semitrailer, nonlinear dynamic model, feedback linearization, steering stability

CLC Number: 

  • U469.5
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