The TowPlow is a novel type of snowplow that consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The system is used to plow two typical traffic lanes simultaneously. In this paper, a nonlinear dynamic model of the TowPlow is developed for longitudinal, lateral, and yaw motions. The model considers nonlinearity through a modified Dugoff’s tire friction model, tire rotation dynamics, and quasi-static load transfer. The model is verified through steady-state and transient tests on an actual TowPlow system. A new snow resistance model is developed to allow simulation of the TowPlow in snow clearing operations. Then, active steering control of the trailer axle is derived with the goal of improving safety and efficiency of the TowPlow. The comparison of the simulation results between the controlled system and the uncontrolled system for cornering, slalom, up and down hill, and split friction coefficient braking maneuvers clearly demonstrates the efficacy of active steering control for the trailer axle of the TowPlow.
Issue Section:
Research Papers
References
1.
Kang
, J. Y.
, and Velinsky
, S. A.
, 2015
, “Linear Vehicle Dynamics of the TowPlow, a Steerable Articulated Snowplow, and Its Kinematics-Based Steering Control
,” ASME J. Dyn. Syst., Meas., Control
, 137
(8
), p. 081004
.10.1115/1.40300382.
Vlk
, F.
, 1985
, “Handling Performance of Truck-Trailer Vehicles: A State-of-the-Art Survey
,” Int. J. Veh. Des.
, 6
(3
), pp. 323
–361
.3.
Schmid
, I.
, 1967
, “Engineering Approach to Truck and Tractor Train Stability
,” SAE Technical Paper No. 67006.4.
Jindra
, F.
, 1965
, “Handling Characteristics of Tractor-Trailer Combinations
,” SAE
Technical Paper No. 650720.10.4271/6507205.
Bundorf
, R. T.
, 1967
, “Directional Control Dynamics of Automobile-Travel Trailer Combinations
,” SAE
Technical Paper No. 670099.10.4271/6700996.
Ellis
, J. R.
, 1969
, Vehicle Dynamics
, Business Books
, London
.7.
Segel
, L.
, and Ervin
, R. D.
, 1981
, “The Influence of Tire Factors on the Stability of Trucks and Tractor Trailers
,” Veh. Syst. Dyn.
, 10
(1
), pp. 39
–59
.10.1080/004231181089686358.
Zhou
, S. W.
, Zhang
, S. Q.
, and Zhao
, G. Y.
, 2011
, “Stability Control on Tractor Semi-Trailer During Split-Mu Braking
,” Adv. Mater. Res.
, 230
, pp. 549
–553
.10.4028/www.scientific.net/AMR.230-232.5499.
Kageyama
, I.
, 1992
, “A Stability Control Method for Articulated Vehicle at Braking
,” International Symposium on Advanced Vehicle Control (AVEC'92)
, pp. 334
–338
.10.
Tamaddoni
, S. H.
, and Taheri
, S.
, 2008
, “Yaw Stability Control of Tractor Semi-Trailers
,” SAE
Technical Paper No. 2008-01-2595.10.4271/2008-01-259511.
Goodarzi
, A.
, Behmadi
, M.
, and Esmailzadeh
, E.
, 2010
, “Optimized Braking Force Distribution During a Braking-in-Turn Maneuver for Articulated Vehicles
,” International Conference on Mechanical and Electrical Technology (ICMET)
, pp. 555
–559
.12.
Tong
, X.
, Mrad
, N.
, and Ei-Gindy
, M.
, 2001
, “Sensitivity of Rearward Amplication Control of a Truck/Full Trailer to Tyre Cornering Stiffness Variations
,” Proc. Inst. Mech. Eng., Part D: J. Automob. Eng.
, 215
(5
), pp. 579
–588
.10.1243/095440701152817613.
Hac
, A.
, Fulk
, D.
, and Chen
, H.
, 2008
, “Stability and Control Consideration of Vehicle-Trailer Combination
,” SAE
Technical Paper No. 2008-01-1228.10.4271/2008-01-122814.
Fernandez
, M. A. A.
, and Sharp
, S. R.
, 2001
, “Caravan Active Braking System-Effective Stabilisation of Snaking of Combination Vehicles
,” SAE
Technical Paper No. 2001-01-3188.10.4271/2001-01-318815.
Lugner
, P.
, Plochl
, M.
, and Riepl
, A.
, 1996
, “Investigation of Passenger Car-Trailer Dynamics Controlled by Additional Braking of Trailer
,” International Symposium on Advanced Vehicle Control (AVEC'96)
, pp. 763
–778
.16.
Kimbrough
, S.
, and Chiu
, C.
, 1990
, “Automatic Steering System for Utility Trailers to Enhance Stability and Maneuverability
,” 1990 American Control Conference
, pp. 2924
–2929
.17.
Rangavajhula
, K.
, and Tsao
, H. S. J.
, 2007
, “Active Trailer Steering Control of an Articulated System With a Tractor and Three Full Trailers for Tractor-Track Following
,” Int. J. Heavy Veh. Syst.
, 14
(3
), pp. 271
–293
.10.1504/IJHVS.2007.01560418.
Odhams
, A. M. C.
, Roebuck
, R. L.
, Jujnovich
, B. A.
, and Cebon
, D.
, 2011
, “Active Steering of a Tractor-Semi-Trailer
,” Proc. Inst. Mech. Eng., Part D: J. Automob. Eng.
, 225
(7
), pp. 847
–869
.10.1177/095440701039568019.
Deng
, W.
, Lee
, Y. H.
, and Tian
, M.
, 2004
, “An Integrated Chassis Control for Vehicle-Trailer Stability Handling Performance
,” SAE
Technical Paper No. 2004-01-2046.10.4271/2004-01-204620.
Fiala
, E.
, 1954
, “Lateral Forces at the Rolling Pneumatic Tire
,” Ver. Dtscher. Ing. Z.
, (29
), pp. 973
–979
.21.
Dugoff
, H.
, Fancher
, P. S.
, and Segel
, L.
, 1969
, “Tire Performance Characteristics Affecting Vehicle Response to Steering and Braking Control Inputs: Final Report
,” Technical Report No. CST-460, University of Michigan, Ann Arbor, MI.22.
Krauter
, A. I.
, 1975
, “Determination of Tire Characteristics from Vehicle Behavior
,” SAE
Technical Paper No. 750211.10.4271/75021123.
Guntur
, R.
, and Sankar
, S.
, 1980
, “A Friction Circle Concept for Dugoff's Tyre Friction Model
,” Int. J. Veh. Des.
, 1
(4
), pp. 373
–377
.24.
Kempainen
, A.
, Milacic
, D.
, Osborne
, M. D.
, and Olson
, W. V.
, 1998
, “Modelling and Testing Snow Ploughing Forces on Trucks
,” Int. J. Veh. Des.
, 19
(4
), pp. 472
–491
.25.
Mellor
, M.
, 1965
, Snow Removal and Ice Control
, Cold Regions Research and Engineering Laboratory
, Hanover, NH
.26.
Zhou
, K.
, Zhang
, W.-B.
, and Tomizuka
, M.
, 2000
, “Dynamic Modeling and Simulation of Snowplow: Normal Operation and Icepack Impacts
,” Technical Report No. UCB-ITS-PRR-2000-21, Partners for Advanced Transit and Highways, Berkeley, CA.27.
Kaku
, T.
, 1979
, “A Study on the Resistance of Snowplowing and the Running Stability of a Snow Removal Truck
,” Transportation Research Board Special Report, Snow Removal and Ice Control Research
, Vol. 185
, pp. 232
–239
.28.
Ravani
, B.
, Gabibulayev
, M.
, and Lasky
, T. A.
, 2005
, “A Snowplowing Resistance Model for Use in Vehicle Dynamic Modeling
,” Mech Based Des. Struct. Mach.
, 33
(3–4
), pp. 359
–372
.10.1080/1536773050040344629.
Kiencke
, U.
, and Nielsen
, L.
, 2005
, Automotive Control Systems for Engine, Driveline, and Vehicle
, Springer
, New York
.30.
Kang
, J. Y.
, 2014
, “Vehicle Dynamics Modeling and Control of the TowPlow, a Steerable Articulated Snow Plowing Vehicle System
,” Ph.D. thesis, University of California, Davis, CA, p. 110
.31.
Opensource
, 2013
, “Arduino—Products
,” Arduino—HomePage
.32.
ISO/TC
, 2011
, “Road Vehicle—Heavy Commercial Vehicles and Buses—Steady-State Circular Tests
,” ISO 14792.33.
ISO/TC
, 2011
, “Road Vehicles—Heavy Commercial Vehicles and Busses—Lateral Transient Response Test Method
,” ISO 14793.Copyright © 2015 by ASME
You do not currently have access to this content.
