Department of Signals and Systems Integrated Control of Propulsion, Braking and Steering of Long...
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Department of Signals and Systems 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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Department of Signals and Systems
Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle CombinationsJonas Fredriksson
Department of Signals and Systems
Chalmers University of Technology
Department of Signals and Systems
INTEGRATED CONTROL OF PROPULSION, BRAKING AND STEERING OF LONG MODULAR HEAVY VEHICLE COMBINATIONS
START- AND END DATE: 2011-03-01 – 2016-03-01
PARTNERS: Volvo GTT and Chalmers
PROGRAMME: Fordonsstrategisk Forskning och Innovation (FFI) – Energi & miljö
BUDGET: 8 985 800 SEK (4 414 250 SEK Energimyndigheten)
PHD STUDENT: Maliheh Sadeghi Kati
Department of Signals and Systems
Agenda
• Background• Project status• Summary/Conclusion
Department of Signals and Systems
Heavy Vehicle Combination Topologies
3 of 8
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
Department of Signals and Systems
Equations• Transport efficiency
• Environmental impact
• Safety
> +
< +
=
1 > 1 + 1
1 < 1 + 1
1 = 1
Department of Signals and Systems
Safety regulations/standards
• Longitudinal PBCs– Startability– Gradeability– Acceleration capability– Stopping distance– Down-grade holding
• Lateral PBCs– Rearward Amplification– Low Speed Swept Path– High Speed Transient Offtracking– High Speed Steady-state Offtracking– Yaw Damping Ratio– Straight Line Offtracking– etc
Today: Prescriptive regulations 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.
Proposal: Performance Based Characteristics
Department of Signals and Systems
Tractor+semitrailer Vs A-double
Smart dolly:
The aim is to study the performance of an A-double combination (double load capacity) compared to an EU-standard tractor-semitrailer.
Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs:
Lateral PBCs:
Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs:
Lateral PBCs:
Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs:
Lateral PBCs:
Department of Signals and Systems
Summary/Conclusion
• Framework for evaluating long vehicle combinations, PBCs– Swedish Transport Adminstration
• Propulsion, Braking and Steering can improve the performance of long vehicle combinations
• Future work:– Robust control of long vehicle combinations
