제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stability Analysis of the Optimal Semi-Trailer Vehicles

  • Mongkolwongrojn, M. (Electro-Mechanical Engineering Lab Mechanical Engineering Department ReCCIT Faculty of Engineering King Mongkut's Institude of Technology Ladkrabang) ;
  • Campanyim, P. (Mechanical Engineering Department Faculty of Engineering King Mongkut's Institude of Technology Ladkrabang)
  • Published : 2004.08.25
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Abstract

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

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