Abstract
In this paper a multi-body 44-DOF tractor semi-trailer model is coupled to a 4-DOF steeringsystem
which includes friction and hydraulic power-steering. An extended wheel hub geometry is used to provide the correct feedback torque from the wheels. A tie-rod with stiffness has been included to connect left and right. An instrumented tractor semi-trailer is used to verify the steering-system model predictions during driving. The focus lies on the prediction of the steering-wheel torque and the vehicle velocity and steering-wheel angle are prescribed as an input for the simulation. Two tests are discussed in this paper, a J-turn at 80 km/h and sinusoidal steering-wheel input with a frequency of 0.4 Hz at 65 km/h. The comparison of the measured signals and the predicted values shows that the steering-system model is accurate. The non-linearities caused by friction and hydraulic assistance system can clearly be seen in both the measurement and the simulation.
which includes friction and hydraulic power-steering. An extended wheel hub geometry is used to provide the correct feedback torque from the wheels. A tie-rod with stiffness has been included to connect left and right. An instrumented tractor semi-trailer is used to verify the steering-system model predictions during driving. The focus lies on the prediction of the steering-wheel torque and the vehicle velocity and steering-wheel angle are prescribed as an input for the simulation. Two tests are discussed in this paper, a J-turn at 80 km/h and sinusoidal steering-wheel input with a frequency of 0.4 Hz at 65 km/h. The comparison of the measured signals and the predicted values shows that the steering-system model is accurate. The non-linearities caused by friction and hydraulic assistance system can clearly be seen in both the measurement and the simulation.
| Original language | English |
|---|---|
| Title of host publication | International Symposium on Advanced Vehicle Control, 13-16 September 2016, Munich, Germany |
| Editors | Peter E. Pfeffer, Johannes Edelmann, Manfred Plochl |
| Pages | 339-364 |
| Number of pages | 26 |
| Publication status | Published - 2017 |
| Event | 13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany Duration: 13 Sept 2016 → 16 Sept 2016 Conference number: 13 http://www.avec16.com/ |
Conference
| Conference | 13th International Symposium on Advanced Vehicle Control, AVEC 2016 |
|---|---|
| Abbreviated title | AVEC'16 |
| Country/Territory | Germany |
| City | Munich |
| Period | 13/09/16 → 16/09/16 |
| Internet address |
Keywords
- Commercial vehicle
- Steering system model
- Validation