IJE TRANSACTIONS C: Aspects Vol. 31, No. 9 (September 2018) 1559-1567    Article in Press

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Y. Pourasad
( Received: January 24, 2018 – Accepted in Revised Form: March 09, 2018 )

Abstract    Nowadays, the importance of the vehicles and its dramatic effects on transportation system is obvious. The use of trailers with multiple axels for transporting bulky and heavy equipment is essential. Stability and steerability of trailers with multiple axels and wheels is one of the main concerns in the transportation system. Therefore, in this paper dynamic modeling and control of a 5 axial trailer was studied. As well as to increase maneuverability and speed up, 3 axles was considered to be steered. Also, by using image processing trailer path following in desired path with the highest accuracy was achieved. In this study, first a 14 DoF model for a 5 axial trailer with 3 steering axles was considered and its dynamic was formulated. For this purpose, dynamic equations including kinematic and kinetic of trailer was obtained. Then, with evaluating trailers response, a linear quadratic optimal control algorithm was designed. In order to evaluate the performance of the control algorithm, control problem simulation for single lane change and overtaking was done. The results confirmed the performance of designed control algorithm and image processing accuracy in trailer path following.


Keywords    Trailer, Image processing, Path Following, optimal control



امروزه اهمیت خودرو و تاثیرات چشمگیر آن بر سیستم حمل و نقل آشکار است. استفاده از تریلرها با چندین محور، برای حمل و نقل تجهیزات و محصولت سنگین ضروری است. پایداری و فرمان¬پذیری تریلر چند محوره یکی از مسائل اصلی در سیستم حمل و نقل است. بنابراین، در این مقاله، مدلسازی و کنترل دینامیکی تریلر 5 محوره مورد بررسی قرار گرفت. به علاوه برای بهبود مانورپذیری و سرعت بخشیدن، 3 محور به عنوان فرمان¬پذیر در نظر گرفته شدند. همچنین با استفاده از پردازش تصویر، سعی می¬شود تا مسیر تریلر در مسیر دلخواه با بالاترین دقت قرارگیرد. بدین منظور، ابتدا مدل 14 درجه آزادی برای تریلر 5 محوری با 3 محور فرمان¬پذیر مورد بررسی قرار گرفت و مدل دینامیکی آن ارائه شد. ابتدا معادلات دینامیکی از جمله سینماتیک و سینتیک تریلر بدست آمده است. سپس با ارزیابی پاسخ تریلر، یک الگوریتم کنترل بهینه مطلوب خطی طراحی شد. به منظور ارزيابي عملكرد الگوريتم كنترلی، شبيه‌سازي مسئله كنترل در طی مانور تغییر مسیر و سبقت گرفتن خودرو انجام شد. نتایج نشان داد که الگوریتم کنترل و سیستم پردازش تصویر طراحی شده دقت و کارایی عملکرد را دارد.


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