This study provides a comprehensive modeling evaluation of the dynamic stability of Long Combination Vehicles (LCVs) that are commonly operated on U.S. highways, using multibody dynamic simulations in MATLAB/Simulink®. The dynamic equations for a tractor with two trailers connected by an A-frame converter dolly (A-Dolly) are developed. The dynamic model is used for running MATLAB® simulations, with parameters that are obtained through measurements or obtained from other sources. The simulation results are verified using track test data to establish a baseline model. The baseline model is used for parametric studies to evaluate the effect of trailer cargo weight, center of gravity (CG) longitudinal location, and trailer wheelbase. The dynamic model is further used to analyze both single-trailer and double-trailer trucks through nondimensionalization. The nondimensionalization method has the added advantage of enabling studies that can more broadly apply to various truck configurations. The simulation results indicate that increasing the trailer wheelbase reduces rearward amplification due to the damping effect of the longer wheelbase. A larger momentum ratio due to increased trailer gross weight increases rearward amplification. The detailed models of pneumatic disc and drum brakes in LCVs, including the airflow delay and thermal characteristics, are also developed and are coupled with the articulated vehicle dynamic models. The disc and drum brake braking performance are evaluated and compared in straight-line braking and combined steering and braking at a 150-ft J-turn maneuver. In straight-line braking, the simulation results indicate that disc brakes provide significantly shorter braking distance than drum brakes at highway speeds on a dry road, mainly due to their larger braking torque. On a slippery road surface, however, the greater braking torque causes more frequent wheel lockup and ABS activation at higher speeds, and disc brakes do not provide a substantially shorter braking distance than drum brakes. The simulations also point out that the disc brakes' cooling capacity is higher than the drum brake, with the cooling efficiency heavily dependent on the airflow speed. At higher driving speeds, the airflow accelerates to a turbulent flow and increases the convection efficiency. For braking in-turn maneuvers, at higher entering speeds, disc brakes decelerate the vehicle slightly sooner and then scrub speed faster, resulting in better roll stability when compared with drum brakes. / Doctor of Philosophy / Long combination vehicles (LCVs) are the combination of a tractor and two or more trailers and have been widely used on U.S. highways for cargo transport. Although LCVs have a larger cargo volume and provide more modularity in transporting goods, at higher speeds, they can be more prone to rollovers and require longer stopping distances and space to maneuver from one lane of travel to another. This study investigates the dynamic stability of an LCV, A-double trailer that includes a tractor, two trailers, and a dolly through modeling and simulation. The dynamic equations of each vehicle unit are derived based on Newtonian Mechanics (i.e., F = ma). The dynamic models are tuned to match the track testing results for similar vehicles, performed by the Center for Vehicle Systems and Safety (CVeSS) at Virginia Tech in the past. A novel evaluation method that nondimensionalizes the equations is used to allow for ease of use for LCVs with different cargo weights, lengths, and other similar variations. The dimensionless parameters are the function of vehicle parameters and express the relationship among the magnitude of vehicle parameters. Using the nondimensionalized model, the study performs a frequency analysis of the effect of trailer cargo weight, CG longitudinal position, and trailer wheelbase on roll stability and rearward amplification. Rearward amplification is the ratio of peak lateral acceleration between the tractor and the rearmost trailer. Slow-sweeping sinusoidal steering from 0.01 Hz to 0.6 Hz is used for the simulation analysis. The simulation results show that by increasing the trailer wheelbase—the distance from the trailer kingpin to the axle—the vehicle is more laterally stable because the longer wheelbases make the trailer more resistive to spinning around. Additionally, the pneumatic disc and drum brake models and thermal models are developed and coupled with the vehicle dynamic model. The disc and drum brake braking performance are investigated during both straight-line braking and combined steering and braking in a curve. The disc brakes generate a greater brake torque compared with drum brakes, and as such can decelerate the vehicle more efficiently on dry road surfaces, particularly at higher speeds such as highway speeds. This improves avoidance during emergency stops and roll stability during traveling in a curve, such as at a highway exit. The disc brakes also have greater cooling capacity because they can transfer the generated heat to the air due to the greater airflow and turbulence caused naturally by their design. This greatly helps to keep the brakes cooler on the track and to improve their stopping efficiency.

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The ride stability of an A-train 28-foot double tractor trailer when outfitted with different Roll Stability Control (RSC) systems with the same payload and suspension configurations is studied experimentally for various dynamic maneuvers. The primary goal of the study is to determine the effect of different commercially-available RSC systems on the extent of improvements they offer for increasing roll stability of commercial vehicles with double trailers, when subjected to limit-steering maneuvers that can rise during highway driving. A semitruck and two 28-foot trailers are modified for enduring the forces and moments that can result during testing. A load structure is used for placing the ballast loads within the trailers at a suitable height for duplicating the CG height of the trailers during their commercial use. Outriggers and jackknifing arresting mechanisms are used to prevent vehicle damage and ensure safety during the tests. The test vehicle is equipped with multiple sensors and cameras for the necessary measurements and observations. The analog and video data are time-synced for correlating the measurements with visual observation of the test vehicle dynamics in post-processing. An extensive number of tests are conducted at the Michelin Laurens Proving Grounds (MLPG) in Laurens, SC. The tests include evaluating each RSC system with different maneuvers and speeds until a rollover occurs or the vehicle is deemed to be unstable. The maneuvers that are used for the tests include: double lane change, sine-with-dwell, J-turn, and ramp steer maneuver. Both a steering robot and subjective driver are used for the tests. The test data are analyzed and the results are used to compare the three RSC systems with each other, and with trailers without RSC. The test results indicate that all three RSC systems are able to improve the speed at which rollover occurs, with a varying degree. For two of the systems, the rollover speed gained, when compared with trailers without RSC, is marginal. For one of the systems, there are more significant speed gains. Since most RSC systems are tuned for a conventional tractor-trailer, additional testing with some of the systems would be necessary to enable the manufacturers to better fine-tune the RSC control scheme to the dynamics of double trailers. / MS

Esta pesquisa avalia a aplicabilidade de modelos matemáticos para analisar a compatibilidade de tráfego de caminhões e combinações de veículos de carga com trechos de rodovias. Os modelos avaliados permitiram a elaboração de um simulador de tráfego de veículos rodoviários de carga em trechos de rodovias, permitindo determinar o perfil de velocidades com base nas características mecânicas do veículo e o perfil da rodovia. O método permite ainda obter os valores de aceleração, potência utilizada, e consumo de combustível. Os resultados obtidos mostraram-se consistentes com observações de campo e recomendações de manuais de projeto de rodovias. Outros fatores associados à compatibilidade entre veículos e rodovias, como capacidade de frenagem motora, capacidade de frenagem de emergência, requisitos de sobrelargura, estabilidade veicular, influência do comportamento do condutor sobre as simulações, consumo de combustíveis e emissões de poluentes são discutidos. Conclui-se que o simulador tem utilidade tanto como ferramenta de análise da compatibilidade de tráfego de veículos de carga em trechos de rodovias, como para identificar deficiências de projeto geométrico de rodovias para autorizar o tráfego de determinadas configurações veiculares. / This research evaluates the applicability of mathematical models to analyze the traffic compatibility of trucks or cargo combination vehicles with road segments. The evaluated models led to a cargo vehicle locomotion simulator along a road segment, that calculates the speed profile of the vehicle as a function of its mechanical characteristics and the road profile. The method also calculates values of acceleration, used power, and fuel consumption. The results obtained are consistent with field observations and recommendations of road design manuals. Others factors associated with the traffic compatibility of cargo vehicles with geometric characteristics of a road segment like engine braking capability, emergency braking capability, overwidht requirements, vehicle stability, conductor influence, fuel consumption, and emissions rates are also discussed. The conclusion is that the simulator can be used as a tool for traffic compatibility analysis of cargo vehicles with road sections or to identify road design deficiencies to certify traffic of certain vehicle configurations.

Esta pesquisa avalia a aplicabilidade de modelos matemáticos para analisar a compatibilidade de tráfego de caminhões e combinações de veículos de carga com trechos de rodovias. Os modelos avaliados permitiram a elaboração de um simulador de tráfego de veículos rodoviários de carga em trechos de rodovias, permitindo determinar o perfil de velocidades com base nas características mecânicas do veículo e o perfil da rodovia. O método permite ainda obter os valores de aceleração, potência utilizada, e consumo de combustível. Os resultados obtidos mostraram-se consistentes com observações de campo e recomendações de manuais de projeto de rodovias. Outros fatores associados à compatibilidade entre veículos e rodovias, como capacidade de frenagem motora, capacidade de frenagem de emergência, requisitos de sobrelargura, estabilidade veicular, influência do comportamento do condutor sobre as simulações, consumo de combustíveis e emissões de poluentes são discutidos. Conclui-se que o simulador tem utilidade tanto como ferramenta de análise da compatibilidade de tráfego de veículos de carga em trechos de rodovias, como para identificar deficiências de projeto geométrico de rodovias para autorizar o tráfego de determinadas configurações veiculares. / This research evaluates the applicability of mathematical models to analyze the traffic compatibility of trucks or cargo combination vehicles with road segments. The evaluated models led to a cargo vehicle locomotion simulator along a road segment, that calculates the speed profile of the vehicle as a function of its mechanical characteristics and the road profile. The method also calculates values of acceleration, used power, and fuel consumption. The results obtained are consistent with field observations and recommendations of road design manuals. Others factors associated with the traffic compatibility of cargo vehicles with geometric characteristics of a road segment like engine braking capability, emergency braking capability, overwidht requirements, vehicle stability, conductor influence, fuel consumption, and emissions rates are also discussed. The conclusion is that the simulator can be used as a tool for traffic compatibility analysis of cargo vehicles with road sections or to identify road design deficiencies to certify traffic of certain vehicle configurations.

Multi-combination vehicles (MCVs) in urban areas impact on productivity, safety, infrastructure, congestion and the environment. However, psychological effects of MCVs on other drivers may also influence the positioning of vehicles and congestion. A literature review revealed little information on the psychological effects of heavy vehicles on other road users. This research can be used to quantify some psychological impacts of MCVs. A testing program was undertaken on the Gateway Motorway to observe passenger car behaviour around MCVs in a lateral and longitudinal sense. Video footage was collected on a four lane divided urban motorway section which was level, straight and away from any off/on ramps. It experiences high traffic volumes with a one-way AADT of approximately 33,500. The route is currently designated for B-doubles, which is the most common MCV in urban areas. In a lateral sense, the research showed that passenger car behaviour changes around heavy vehicles (prime mover semi-trailer combination and B-doubles); however, there is no statistical difference in passenger car behaviour around semi-trailers and B-doubles. Longitudinally it was found that, even though passenger cars shy away from B-doubles more than semi-trailers, B-doubles are still more efficient in a spatial sense since they carry more freight. The outcomes of this research indicate that there is no further psychological impact on passenger cars, when travelling around B-doubles compared with semi-trailers. Where the results identified longitudinal behaviour changes, it was still concluded that B-doubles were more efficient at transporting freight when the passenger car equivalent (PCE) per tonne of freight was considered. Tracking ability testing was undertaken in a rural area to determine the lateral spatial requirements of three different MCVs. The rural testing was considered appropriate since parts of the urban network have similar characteristics to rural networks. A model was developed as a part of this project to process the data collected by Haldane (2002), but results could not be relied upon due to poor quality data.