Chapter 1 presents a literature review concerned with the background to trailer steering, rollover prevention, vehicle parameter and state estimation, and integrated steering and braking. Chapter 2 presents simulation results of various brake actuation events on articulated vehicles with path following control. It is shown that the vehicle is stable under braking with path following control provided the Anti-lock Braking System is functioning. Active trailer steering can compensate the changing direction of trailer body caused by the braking forces and thus maintain the vehicle’s yaw stability. Chapter 3 and 4 present a strategy for estimating vehicle parameters and states. Chapter 5 develops an optimal active trailer steering controller at high speeds and a PID controller at low speeds. Simulations show that the active trailer steering controller can reduce lateral acceleration significantly, while maintaining acceptable path error. The active steering vehicle improves the roll stability by reducing the lateral acceleration of trailer CoG up to 27% while maintaining path tracking performance as good as a passive vehicle at high speeds. It is more manoeuvrable at low speeds, reducing the tyre wear and causing less road damage.
| Identifer | oai:union.ndltd.org:bl.uk/oai:ethos.bl.uk:597566 |
| Date | January 2009 |
| Creators | Cheng, Caizhen |
| Publisher | University of Cambridge |
| Source Sets | Ethos UK |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
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