Sökning: id:"swepub:oai:research.chalmers.se:a4469416-ef86-4756-aac2-a76b0aad6300" >
Computationally Eff...
Computationally Efficient Nonlinear One-and Two-Track Models for Multitrailer Road Vehicles
-
- Ghandriz, Toheed, 1982 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
-
- Jacobson, Bengt J H, 1962 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
-
- Nilsson, Peter, 1976 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology,Volvo Group
-
visa fler...
-
- Laine, Leo, 1972 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology,Volvo Group
-
- Fröjd, Niklas, 1964 (författare)
- Volvo Group
-
visa färre...
-
(creator_code:org_t)
- 2020
- 2020
- Engelska.
-
Ingår i: IEEE Access. - 2169-3536 .- 2169-3536. ; 8, s. 203854-203875
- Relaterad länk:
-
https://research.cha... (primary) (free)
-
visa fler...
-
https://doi.org/10.1...
-
https://research.cha...
-
https://research.cha...
-
https://research.cha...
-
visa färre...
Abstract
Ämnesord
Stäng
- This paper presents nonlinear mathematical models of one-and two-track multitrailer vehicles. We derive nonlinear equations of motion in the form of a system of implicit ordinary differential equations (ODEs) by using Lagrangian mechanics. The system of ODEs has the minimum number of states and equations that enables efficient computations yet maintains the most important nonlinear vehicle dynamic behavior and allows actuator coordination and energy consumption evaluation. As examples, we build different models of a 4-unit long combination vehicle, i.e., two-track 11-axle and single-track 6-axle nonlinear models as well as a linear single-track 6-axle model. We compare the performance of these models to experimental data of different driving maneuvers. The nonlinear single-track model demonstrates close dynamic behavior to the experiment, which makes it an efficient alternative to the two-track model. The vehicle equations can be generated automatically by using the code provided in this paper and subsequently used for conducting frequency analysis, evaluating energy consumption, deriving performance measures from simulations, and facilitating optimal control applications that involve combined steering, braking and propulsion control.
Ämnesord
- NATURVETENSKAP -- Matematik -- Beräkningsmatematik (hsv//swe)
- NATURAL SCIENCES -- Mathematics -- Computational Mathematics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- multitrailer vehicles
- long combination vehicles
- single-track nonlinear model
- vehicle dynamics
- two-track nonlinear model
- articulated vehicles
- single-track linear
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
Hitta via bibliotek
Till lärosätets databas