Directional Stability and Controllability of Multi-Articulated Vehicles

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This paper presents theoretical research in the fundamentals on the directional stability and controllability of multi-articulated vehicles. Analyses and numerical calculations are conducted by using models incorporating vehicle side-slipping and yawing. Two vehicle combinations are examined with regard to straight running stability, as well as steering sensitivity and off-tracking in steady-state turning. Type I is a tractor and two semitrailers; type II is a tractor, semitrailer, and full-trailer. The following conclusions are drawn. (1) The criterion of non-oscillatory stability of types I and II is a function of the stability factor as well as that of tractor and semitrailer combinations. (2) Type I is more stable than type II in oscillatory modes. (3) Type I differs slightly from type II regarding non-oscillatory stability, steering sensitivity, and off-tracking in steady-state turning.