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Yaw/Roll Stability Modeling and Control of HeavyTractor-SemiTrailer
Technical Paper
2007-01-3574
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper sets up a simplified dynamic model for simulating the yaw/roll stability of heavy tractor-semitrailer using Matlab/Simulink. A linear quadratic regulator (LQR) based on partial-state feedback controller is used to optimize the roll stability of the vehicle. The control objective for optimizing roll stability is to be reducing the lateral load transfer rate while keeping the suspension angle less than the maximum allowable angle. The simulation result shows that the LQR controller is effective in the active roll stability control of the heavy tractor-semitrailer.
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Citation
Zhu, T., Zong, C., Zheng, H., Tian, C. et al., "Yaw/Roll Stability Modeling and Control of HeavyTractor-SemiTrailer," SAE Technical Paper 2007-01-3574, 2007, https://doi.org/10.4271/2007-01-3574.Also In
References
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