Linear Stability of Reversing a Car-trailer Combination

Authors

  • Levente Mihályi
    Affiliation

    Department of Applied Mechanics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Műegyetem rkp. 3, H-1111 Budapest, Hungary

  • Dénes Takács
    Affiliation

    MTA-BME Research Group on Dynamics of Machines and Vehicles, Műegyetem rkp. 3, H-1111 Budapest, Hungary

https://doi.org/10.3311/PPme.18971

Abstract

In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt.

Keywords:

car-trailer combination, rectilinear reversing, linear control, laboratory testing

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Published Online

2023-04-18

How to Cite

Mihályi, L., Takács, D. “Linear Stability of Reversing a Car-trailer Combination”, Periodica Polytechnica Mechanical Engineering, 67(2), pp. 87–93, 2023. https://doi.org/10.3311/PPme.18971

Issue

Vol. 67 No. 2 (2023)

Section

Articles