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Design of an Active Trailer-Steering System for Multi-Trailer Articulated Heavy Vehicles Using Real-Time Simulations
Published May 01, 2013 by SAGE Publications in United Kingdom
This paper presents the design for an active trailer-steering system of multi-trailer articulated heavy vehicles using driver-software-in-the-loop real-time simulations. A linear yaw-plane multi-trailer articulated heavy-vehicle model is generated to derive an optimal active trailer-steering controller. Then, the controller is reconstructed in LabVIEW and integrated with a vehicle model for a tractor-double-trailer combination developed in TruckSim. The driver-software-in-the-loop real-time simulations are conducted on a vehicle simulator. The driver-software-in-the-loop real-time simulations indicate that the active trailer-steering controller can effectively improve the low-speed maneuverability and high-speed stability of the multi-trailer articulated heavy vehicle when testing using a low-speed 360° roundabout path-following maneuver and a high-speed single-lane-change maneuver respectively. The investigation based on the driver-software-in-the-loop real-time simulations paves the way to future development of electronic control units for the active trailer-steering system using driver-hardware-in-the-loop real-time simulations.