Modares Mechanical Engineering

Modares Mechanical Engineering

Increase the stability of an articulated long vehicle by active disturbance rejection backstepping sliding mode control method

Authors
naser esmaili 1
hamed Hamed tabatabaei oreh 2
1 Department of Mechanical Engineering, K. N. Toosi University, Tehran, Iran
2 Department of Mechanical Engineering, Islamic Azad University, Tehran, Iran
Abstract
Today, the use of articulated long vehicles is surging. The main reasons for tendency of utilizing these vehicles is use of less tractor unit fitted to carry two or more trailers. In other words, in order to carry the same amount of goods, instead of using some tractor semi-trailers, we can make use of fewer articulated long vehicles. Reduction of fuel consumption, a significant decrease in the production of greenhouse gasses as well as using less manpower to direct the vehicle to carry the same load which is related to typical articulated vehicle is of other advantages of long articulated vehicles. The major problems of these vehicles are poor maneuverability at low speed and inappropriate lateral performance at high speed, which would lead to crashes and financial damages. Hence, a control system is required for enhancing the safety of these vehicles, improving the performance of long vehicles and preventing from being unstable. In this study, after mining and verifying the dynamic model, a new control method based on a combination of active disturbance rejection control and backstepping sliding mode control for adjusting lateral dynamic of articulated long vehicles has been utilized. The results portray the superiority of this new method than LQR and sliding mode controllers.
Keywords
Transportation Industry
Articulated Long Vehicle
Lateral Stability
Active Disturbance Rejection Backstepping Sliding Mode Controller

Subjects

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Modares Mechanical Engineering
Volume 18, Issue 4
August 2018
Pages 253-264