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Research Papers

Calibration of an Articulated Vehicle Model and Analysis of Friction Model in the Connection Between Two Vehicle Units

[+] Author and Article Information
Adamiec-Wójcik Iwona

University of Bielsko-Biala,
Willowa 2,
Bielsko-Biała 43-309, Poland
e-mail: i.adamiec@ath.bielsko.pl

Drąg Łukasz

University of Bielsko-Biala,
Willowa 2,
Bielsko-Biała 43-309, Poland
e-mail: ldrag@ath.bielsko.pl

Grzegożek Witold

Cracow University of Technology,
Warszawska 24,
Kraków 31-155, Poland
e-mail: witek@mech.pk.edu.pl

Wojciech Stanisław

University of Bielsko-Biala,
Willowa 2,
Bielsko-Biała 43-309, Poland
e-mail: swojciech@ath.bielsko.pl

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received September 10, 2018; final manuscript received January 13, 2019; published online March 14, 2019. Assoc. Editor: Corina Sandu.

J. Comput. Nonlinear Dynam 14(5), 051008 (Mar 14, 2019) (12 pages) Paper No: CND-18-1397; doi: 10.1115/1.4042638 History: Received September 10, 2018; Revised January 13, 2019

This paper describes models of dynamics for articulated vehicles (tractor with a semitrailer and a tractor with a trailer). The models are obtained by using joint coordinates and homogenous transformations. Yawing velocities of the vehicle units have been measured during a sharp turn maneuver. The results of experimental measurements are then used to calibrate the mathematical models, which means the parameters of tires for the Dugoff–Uffelman model are chosen in such a way that the results of calculations and measurements are compatible. In order to solve this problem, an optimization method is used. Satisfactory results have been achieved and they are presented in this paper. Further, the model calibrated is used to analyze how the friction in the connections between the tractor and semitrailer, as well as between the dolly and the trailer, influences the motion of the vehicle.

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Figures

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Fig. 1

The tree structure of an articulated vehicle

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Fig. 2

Models of units: (a) pth  unit in the chain, and (b) first unit

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Fig. 3

Model of the connection between the wheel and the road and coordinate systems

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Fig. 4

Model of a semitrailer

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Fig. 5

A truck with a trailer as a system of four units

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Fig. 6

Forces acting on wheel k of unit pXp′,Yp′,Zp′—coordinate system with axes parallel to Xp,Yp,ZpXk(p),Yk(p),Zk(p)—coordinate system assigned to wheel k of link pτk(p),nk(p)—normal and tangential directions of the wheel motion, fk(p)—coefficient of rolling friction

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Fig. 7

Tractor with semitrailer (case A): (a) sensor for measurements of the steer angle of the steering wheel and (b) Correvit sensor for velocity measurements

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Fig. 8

Tractor with trailer (case B): (a) general view and (b) Correvit sensor for velocity measurements

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Fig. 9

Experimental measurements for case A: (a) steer angle of the front wheels, (b) yawing velocity of the tractor, and (c) yawing velocity of the semitrailer

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Fig. 10

Experimental measurements for vehicle B: (a) steer angle of the front wheels, (b) yawing velocity of the tractor, and (c) yawing velocity of the semitrailer

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Fig. 11

Yawing velocity of vehicle units of vehicle A

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Fig. 12

Yawing velocities of vehicle units for vehicle B

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Fig. 13

Forces and moments in joint connecting links m and m−1

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Fig. 14

Course of the steer angle of the front wheels of the tractor for the maneuvers analyzed: (a) lane change, and (b) double lane change

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Fig. 15

Course of the relative rotation in the fifth wheel for a semitrailer (vehicle A): (a) lane change and (b) double lane change

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Fig. 16

Course of the relative rotation in the connection between the trailer and the dolly (vehicle B): (a) lane change and (b) double lane change

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Fig. 17

Course of the friction moment in the fifth wheel for a semitrailer (vehicle A): (a) lane change and (b) double lane change

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Fig. 18

Course of the friction moment in the connection between the trailer and the dolly (vehicle B): (a) lane change and (b) double lane change

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