Sliding Mode Steering Control of a Multi-Axle Tractor and Trailer

• Main Authors: Yi-Chang Dong, 董益昌
• Other Authors: Hsu-Jeng Liu
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/17045832390268731052

碩士 === 國立屏東科技大學 === 機械工程系所 === 98 === In this research, the main purpose is to study the sliding mode controller of multi-axis steering tractor and trailer. The front axle is both turned for the full tractor and trailer, while it is different with the traditional method of tractor and trailer steering. However, the full tractor and trailer are made to change by tractor and trailer quality, and moment of the inertia is changed, and they are changed under different speeds and other parameters. The vehicle’s maneuverability are affected on the analysis. First, we are derived the multi-axis steering vehicle mathematical mode, used steady-state corner ratio and the sliding mode controller are designed. Finally, the simulation is used via MATLAB software, and the results show that the sliding mode controller in this system reduces amplitude and time to achieve steady state. The multi-axis steering tractor and trailer are improved in terms of maneuverability.