エネルギーフローを指標としたセミトレーラ牽引時の安定性解析

概要

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I investigated the energy flow of tractor-semi trailer combination, and clarified the mechanism of yawing motion of the tractor-semi trailer combination. For instance, when the inputs of energy to yawing motion of trailer through a hitch point is grater than the outputs of energy through tires of trailer, the yawing motion of trailer will be enhanced. This energy inputs to yawing motion of trailer through a hitch point is provided by lateral motion of trailer. For the stabilization of trailer, minimizing energy inputs to yawing motion from lateral motion of trailer through the hitch point is effective. This study also proves that additional steering to a trailer, using the algorithm of Vector Following Control is effective to minimize the energy inputs to the trailer through the hitch point and also effective for improving the stability of trailer.