Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle
A novel control scheme is proposed to improve the yaw stability of a tractor semitrailer vehicle in critical situations. The control scheme is a two-layer structure consisting of an upper yaw moment controller and a lower brake force distributor. The tractor and the trailer are, respectively, stabil...
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2015-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2015/692912 |
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doaj-2f9f82db2f424bf99f5a8cb082f71d4c2020-11-24T23:25:29ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472015-01-01201510.1155/2015/692912692912Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer VehicleXiujian Yang0Juntao Song1Jin Gao2Faculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaA novel control scheme is proposed to improve the yaw stability of a tractor semitrailer vehicle in critical situations. The control scheme is a two-layer structure consisting of an upper yaw moment controller and a lower brake force distributor. The tractor and the trailer are, respectively, stabilized by two independent fuzzy logic based yaw moment controllers. The controllers for the tractor and the trailer are, respectively, designed to track the reference yaw rate of the tractor and the hitch angle between the tractor and the trailer while considering the variation of the hitch angular rate at the same time. The corrective yaw moments determined by the corresponding upper fuzzy yaw moment controllers are realized by active wheel braking. The performance of the proposed control scheme is evaluated by simulations on a nonlinear vehicle model. The results demonstrate that the proposed control scheme is robust and effective in stabilizing the severe instabilities such as jackknife and trailer oscillation in the chosen simulation scenarios. It is believed that this control scheme is robust to the variation of road adhesion conditions.http://dx.doi.org/10.1155/2015/692912 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xiujian Yang Juntao Song Jin Gao |
spellingShingle |
Xiujian Yang Juntao Song Jin Gao Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle Mathematical Problems in Engineering |
author_facet |
Xiujian Yang Juntao Song Jin Gao |
author_sort |
Xiujian Yang |
title |
Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle |
title_short |
Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle |
title_full |
Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle |
title_fullStr |
Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle |
title_full_unstemmed |
Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle |
title_sort |
fuzzy logic based control of the lateral stability of tractor semitrailer vehicle |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2015-01-01 |
description |
A novel control scheme is proposed to improve the yaw stability of a tractor semitrailer vehicle in critical situations. The control scheme is a two-layer structure consisting of an upper yaw moment controller and a lower brake force distributor. The tractor and the trailer are, respectively, stabilized by two independent fuzzy logic based yaw moment controllers. The controllers for the tractor and the trailer are, respectively, designed to track the reference yaw rate of the tractor and the hitch angle between the tractor and the trailer while considering the variation of the hitch angular rate at the same time. The corrective yaw moments determined by the corresponding upper fuzzy yaw moment controllers are realized by active wheel braking. The performance of the proposed control scheme is evaluated by simulations on a nonlinear vehicle model. The results demonstrate that the proposed control scheme is robust and effective in stabilizing the severe instabilities such as jackknife and trailer oscillation in the chosen simulation scenarios. It is believed that this control scheme is robust to the variation of road adhesion conditions. |
url |
http://dx.doi.org/10.1155/2015/692912 |
work_keys_str_mv |
AT xiujianyang fuzzylogicbasedcontrolofthelateralstabilityoftractorsemitrailervehicle AT juntaosong fuzzylogicbasedcontrolofthelateralstabilityoftractorsemitrailervehicle AT jingao fuzzylogicbasedcontrolofthelateralstabilityoftractorsemitrailervehicle |
_version_ |
1725557231481520128 |