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Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations

Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations. Jonas Fredriksson Department of Signals and Systems Chalmers University of Technology.

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Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations

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  1. Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations Jonas Fredriksson Department of Signals and Systems Chalmers University of Technology

  2. Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle CombinationsStart- AND END DATE: 2011-03-01 – 2016-03-01Partners: Volvo GTT and ChalmersProgramME: FordonsstrategiskForskningoch Innovation (FFI) – Energi & miljöBUDGET: 8 985 800 SEK (4 414 250 SEK Energimyndigheten)PHD STUDENT:MalihehSadeghi Kati

  3. Agenda • Background • Project status • Summary/Conclusion

  4. Heavy Vehicle Combination Topologies • Conventional vehicle combinations • Maximum length of 18.75 m • Maximum weight of 40 tons • In Europe • Modular vehicle combinations • Maximum length of 25.25 m • Maximum weight of 60 tons • In Sweden and Finland • Prospective modular vehicle • combinations 3 of 8

  5. Equations • Transport efficiency • Environmentalimpact • Safety > < = + + 1 > 1 + 1 1 < 1 + 1 1 = 1

  6. Safetyregulations/standards Today:Prescriptiveregulations and standards Put restrictions on the vehicle design (dimensions and mass) and specifying how the vehicle combinations should look like but not how they should perform on the road. • Longitudinal PBCs • Startability • Gradeability • Acceleration capability • Stoppingdistance • Down-gradeholding Proposal:Performance BasedCharacteristics • Lateral PBCs • Rearward Amplification • Low Speed Swept Path • High Speed Transient Offtracking • High Speed Steady-state Offtracking • Yaw Damping Ratio • Straight Line Offtracking • etc

  7. Tractor+semitrailer Vs A-double The aim is to study the performance of an A-double combination (double load capacity) compared to an EU-standard tractor-semitrailer. Smart dolly:

  8. Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

  9. Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

  10. Tractor+semitrailer Vs A-double Longitudinal PBCs: Lateral PBCs:

  11. Summary/Conclusion • Framework for evaluatinglongvehicle combinations, PBCs • Swedish Transport Adminstration • Propulsion, Braking and Steeringcanimprove the performance of longvehicle combinations • Future work: • Robust control of longvehicle combinations

  12. Thank you! jonas.fredriksson@chalmers.se

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