Abstract
An 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, 0.65° and 0.55 m/s2, whereas for the second method these values were lower than 0.85° 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.
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Acknowledgements
This work was supported by The National Centre for Research and Development (NCBiR), within a project, “Elaboration of innovative inter-cars articulations having a unique lighter design capable of absorbing crash energy in order to ensure passenger safety in public transport”.
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Szumilas, M., Łuczak, S., Kabziński, B. (2020). Selected Tests of a Control System for an Articulated Vehicle with Innovative Articulation. In: Szewczyk, R., Krejsa, J., Nowicki, M., Ostaszewska-Liżewska, A. (eds) Mechatronics 2019: Recent Advances Towards Industry 4.0. MECHATRONICS 2019. Advances in Intelligent Systems and Computing, vol 1044. Springer, Cham. https://doi.org/10.1007/978-3-030-29993-4_9
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DOI: https://doi.org/10.1007/978-3-030-29993-4_9
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