In vehicle truck steering-system modeling and validation

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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.
Original languageEnglish
Title of host publicationInternational Symposium on Advanced Vehicle Control, 13-16 September 2016, Munich, Germany
EditorsPeter E. Pfeffer, Johannes Edelmann, Manfred Plochl
Number of pages26
Publication statusPublished - 2017
Event13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany
Duration: 13 Sept 201616 Sept 2016
Conference number: 13


Conference13th International Symposium on Advanced Vehicle Control, AVEC 2016
Abbreviated titleAVEC'16
Internet address


  • Commercial vehicle
  • Steering system model
  • Validation


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