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The Dynamics of Tractor-Semitrailer Vehicles: The Jackknifing Problem
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Abstract
The equations of motion for a tractor-semitrailer vehicle, in which both the tractor and semitrailer can pitch, roll, yaw and translate, are derived and solved numerically in their nonlinear form for steering and braking inputs. The linearized equations are also determined and solved for comparison with the nonlinear model. The results demonstrate the occurrence of jackknifing of the nonlinear model, even without the application of braking forces, for certain steering inputs while the linearized model is stable. Violent jackknifing caused by braking is found to take place in the nonlinear model whenever braking forces at the rear tractor wheels are of sufficient magnitude to limit or reduce the side forces occurring there; locking of the wheels is not required. Jackknifing can not always be prevented by damping (short of locking) at the hitch, but the action can be slowed down considerably.
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Citation
Mikulcik, E., "The Dynamics of Tractor-Semitrailer Vehicles: The Jackknifing Problem," SAE Technical Paper 710045, 1971, https://doi.org/10.4271/710045.Also In
References
- Jindra F. “Tractor and Semi-Trailer Handling,” Automobile Engineer 53 1963 438 446
- Ellis J. R. “The Ride and Handling of Semi-Trailer Articulated Vehicles,” Automobile Engineer 56 1966 523 529
- Hales F. D. “The Lateral Stability of a Simplified Articulated Vehicle,” Symposium on Control of Vehicles During Braking and Cornering, Proceedings London 1963
- Ellis J. R. “The Dynamics of Vehicles During Braking,” Symposium on Control of Vehicles During Braking and Cornering, Proceedings London 1963
- Mikulcik E. C. “The Dynamics of Tractor-Semitrailer Vehicles: The Jackknifing Problem,” Cornell University Ithaca, N.Y. June 1968
- Radt H. S. Milliken W. J. “Motions of Skidding Automobiles,” Paper 205A SAE Summer Meeting Chicago June 1960