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Phase-Plane Analysis for Evaluating the Lateral Stability of Articulated Vehicles
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 14, 2015 by SAE International in United States
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The phase-plane analysis technique has become a powerful tool for analyzing lateral stability of single-unit vehicles. Articulated vehicles, such as car-trailer combinations, consist of multiple vehicle units. Multi-unit vehicles exhibit unique dynamic features compared against single-unit vehicles. For example, a car-trailer may exhibit one of the three unstable motion modes, i.e., jack-knifing, trailer sway and rollover. Considering the distinguished configurations and dynamic features of articulated vehicles, it is questionable whether the phase-plane analysis method based on single-unit vehicles is applicable for analyzing the lateral stability of multi-unit vehicles. In order to address the problem, case studies are conducted to test the effectiveness of the phase-plane method for analyzing the lateral stability of a car-trailer combination, which is represented by a nonlinear vehicle model generated using the CarSim software package. The phase-plane analysis, which examines the relation between the leading unit's side-slip angle and side-slip angular velocity (β − dβ/dt), the relation between the trailing unit's side-slip angle and side-slip angular velocity (β′ − dβ′/dt), and the interrelation of the side-slip angle of the leading unit, the yaw rate of the leading unit, and the articulation angle between the leading and trailing units (β − r − ψ), is conducted to assess the lateral stability of the car-trailer combination with and without an active trailer differential braking (ATDB) system. Built upon the conventional phase-plane analysis method for single-unit vehicles, an innovative phase-plane analysis technique is developed in order to effectively assess the lateral stability of articulated vehicles. The applicability and effectiveness of the newly developed technique is examined and demonstrated.
CitationSun, T. and He, Y., "Phase-Plane Analysis for Evaluating the Lateral Stability of Articulated Vehicles," SAE Technical Paper 2015-01-1574, 2015, https://doi.org/10.4271/2015-01-1574.
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