Selected tests of a control system for an articulated vehicle with innovative articulation
Mateusz Szumilas , Sergiusz Łuczak , Błażej Kabziński
AbstractAn algorithm for controlling the hydraulic damping of an innovative articulation for an articulated vehicle was tested with respect to the stability of the vehicle movement while avoiding a road obstacle at 50 km/h by a double change of the lane. Related maneuvers were simulated using LabVIEW software. Two testing methods were employed – with the steering wheel motion being dependent or independent on delays introduced into the control loop. Simulation results according to the first method proved that the mean absolute slip angle of all the tires and the mean absolute lateral acceleration of the rear car centre of mass did not exceed, respectively, 0.65textdegree and 0.55 m/s2, whereas for the second method these values were lower than 0.85textdegree and 0.75 m/s2. In both methods the results depended on the delay in signal transmission. It was concluded that the control loop delay should be kept lower than 0.1 s. Moreover, this delay should be monitored and used as an input to the control algorithm, as in certain conditions deactivating the articulation damping in presence of excessive delays can be confusing to the driver.
|Publication size in sheets||0.5|
|Book||Szewczyk Roman, Krejsa Jiří, Nowicki Michał, Ostaszewska-Liżewska Anna (eds.): Mechatronics 2019: Recent Advances Towards Industry 4.0, Advances in Intelligent Systems and Computing, vol. 1044, 2020, Springer, ISBN 978-3-030-29992-7, [978-3-030-29993-4], 515 p., DOI:10.1007/978-3-030-29993-4|
|Keywords in English||articulation, articulated vehicle, hydraulic damping, LabVIEW|
|Score||= 20.0, 08-06-2020, MonographChapterAuthor|
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