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Yaw stability control of single-trailer truck using steerable wheel at middle axle: hardware-in-the-loop simulation

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Abstract

A single-trailer truck has several advantages in transportation due to its simple loading and unloading process as well as its ability to transport a large and heavy load with low delivery cost. Despite more advantages in transportation, this vehicle often involved in road accident caused by reasons such as skidding, jack-knifing, trailer swing and trailer oscillation due to the unwanted yaw and lateral motions while manoeuvring. This elevates much concerns on the stability of the single-trailer truck vehicle, especially while travelling at high speed. This study proposed a yaw rejection control of single-trailer truck using a steerable wheel located at the middle axle of the truck. This study covers the development and verification of 15-DOF model of single-trailer truck to simulate vehicle responses in longitudinal plane. Then, yaw rejection controller is developed and examined using two conditions of manoeuvrings, namely single and double lane change tests. The yaw rejection controller results managed to reduce up to 34.66% lateral acceleration and 22.92% yaw rate compared to the passive vehicle configuration. Lastly, the yaw rejection controller was implemented on a small-scale prototype of single-trailer truck vehicle system using Hardware-in-the-loop simulation. The HIL simulation results showed that the yaw rejection controller managed to stabilise the vehicle during manoeuvring with realistic steering wheel actions deliverable by the actuator.

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Acknowledgements

The research has been carried out under Fundamental Research Grant Scheme project FRGS/1/2018/TK03/UPNM/03/2 provided by Ministry of Education of Malaysia.

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Authors and Affiliations

  1. Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia

    Muhamad Afiq Mohd Yussof, Noor Hafizah Amer, Zulkiffli Abd Kadir, Khisbullah Hudha, Mohd Sabirin Rahmat & Mohamad Hafiz Harun

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  1. Muhamad Afiq Mohd Yussof
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  2. Noor Hafizah Amer
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  3. Zulkiffli Abd Kadir
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  4. Khisbullah Hudha
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  5. Mohd Sabirin Rahmat
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  6. Mohamad Hafiz Harun
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Contributions

The author of this manuscript are: Muhamad Afiq Mohd Yussofa, Noor Hafizah Amera, Zulkiffli Abd Kadira, Khisbullah Hudhaa, Mohd Sabirin Rahmata, Mohamad Hafiz Haruna.

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Correspondence to Noor Hafizah Amer.

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I declare that there is no conflict of interest in the publication of this article, and that there is no conflict of interest with any other author or institution for the publication of this article.

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I hereby declare that this manuscript is the result of my independent creation under the reviewers’ comments. Except for the quoted contents, this manuscript does not contain any research achievements that have been published or written by other individuals or groups. I am the only author of this manuscript. The legal responsibility of this statement shall be borne by me.

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Yussof, M.A.M., Amer, N.H., Kadir, Z.A. et al. Yaw stability control of single-trailer truck using steerable wheel at middle axle: hardware-in-the-loop simulation. Int. J. Dynam. Control 10, 2072–2094 (2022). https://doi.org/10.1007/s40435-022-00943-3

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  • DOI: https://doi.org/10.1007/s40435-022-00943-3

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