非線形操舵制御による連結車の操作性・安定性向上

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概要

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• The stability and follow-ability of articulated vehicles has been studied for many years. These studies have brought about progress in analytical techniques as simulations based on the equations of motion, root locus approach for stability judgment, and analysis of jackknife behaviors. Recently, the trailer's wheel steering is also being theoretically and experimentally implemented for improving directional stability and track follow-ability. In this paper, the author applies both nonlinear control theory and optimal servo to the trailer's wheel steering control. Under this trailer's wheel steering control, tractor's and trailer's center of gravity are on the same locus. This steering control method is also evaluated through a series of simulations in terms of off-tracking characteristics at low speed and steering responses at high speed. The results have indicated that the steering control method is highly effective for both the directional stability and reduction of off-tracking.

• 1999-10-25

著者

• 竹村 英孝

  長野県工科短期大学校

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