Optimal roll control of an articulated vehicle: theory and model validation
- 1 December 2005
- journal article
- research article
- Published by Taylor & Francis Ltd in Vehicle System Dynamics
- Vol. 43 (12), 867-884
- https://doi.org/10.1080/00423110500217167
Abstract
This paper investigates optimal roll control of an experimental articulated vehicle. The test vehicle and the mathematical model used to design the control strategies are presented. The vehicle model is validated against experimental data from the test vehicle in passive configuration. The initial controller design, performed by Sampson (Sampson, D.J.M. and Cebon, D., 2003a, Achievable roll stability of heavy road vehicles. Proc. Instn. Mech. Engrs, Part D, J. Automobile Engineering, 217(4), 269–287), is reviewed and adapted for the experimental vehicle. The effect of not controlling all the axles on the vehicle is investigated and a variable vehicle speed controller is designed by interpolating between constant speed controllers. Substantial reduction in normalized load transfer is achieved for a range of manoeuvres, both in steady-state and transient conditions.Keywords
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