Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle

It is well-known that single-trailer trucks are one of the common vehicles in transporting goods. Normally, single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvers due to excessive yaw and roll moments at the body center of...

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Main Author:	Muhammad Nadwi Hakimi, bin Adnan
Format:	Thesis
Language:	English English
Published:	2021
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://ir.upnm.edu.my/id/eprint/154/1/ROLLOVER%20PREVENTION%20SYSTEM%20%2825%20Pages%29.pdf http://ir.upnm.edu.my/id/eprint/154/2/ROLLOVER%20PREVENTION%20SYSTEM%20%28Full%29.pdf
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id	my-upnm-ir.154
record_format	uketd_dc
spelling	my-upnm-ir.1542023-02-13T07:45:37Z Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle 2021-10-28 Muhammad Nadwi Hakimi, bin Adnan TJ Mechanical engineering and machinery It is well-known that single-trailer trucks are one of the common vehicles in transporting goods. Normally, single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvers due to excessive yaw and roll moments at the body center of gravity. In order to enhance the manoeuvrability as well as to avoid rollover accident in high speed manoeuverings, this study proposes an active roll control using steerable-wheel system middle axle of single-trailer truck. The steerable-wheel system is developed mainly focused to maintain the directional manoeuvrability and stability of the single-trailer truck by providing an electronically controlled wheel angle of middle axle mechanism. The system is designed to reject the unwanted lateral, yaw and roll motions based on trailer responses. Firstly, the control structure of the active roll control system is developed on a verified 18 degree-of-freedoms of single-trailer truck model. The control structure consists of trailer’s roll angle feedback control using PID controller and additional roll moment cancellation control using Skyhook controller. The controller is then enhanced by optimising the controller’s parameters using Particle Swarm Optimisation. From the simulation results, it can be seen that the proposed control structure is able to reject the unwanted motions in single-lane and double-lane change manoevers as compared to passive system. The benefits of PID-Skyhook controller are also discussed in this study by comparing the performances against the PID controller. Finally, active roll control with PID-Skyhook controller is then tested experimentally through hardware-in-the-loop simulation approach using a small-sized of single-trailer truck with steerable-wheel test rig. From the experimental results, a significantly good agreement between experiment and simulation is observed for lateral acceleration, yaw rate and roll angle responses. It also shows that the proposed steerable-wheel system was proven managed to reduce the unwanted lateral, yaw and roll motions by producing the appropriate wheel steer angle for middle axle to maintain the manoeuvrability and stability of the single-trailer truck from rollover accident. 2021-10 Thesis http://ir.upnm.edu.my/id/eprint/154/ http://ir.upnm.edu.my/id/eprint/154/1/ROLLOVER%20PREVENTION%20SYSTEM%20%2825%20Pages%29.pdf text en public http://ir.upnm.edu.my/id/eprint/154/2/ROLLOVER%20PREVENTION%20SYSTEM%20%28Full%29.pdf text en validuser mphil masters Universiti Pertahanan Nasional Malaysia Centre For Graduate Studies
institution	Universiti Pertahanan Nasional Malaysia
collection	UPNM Institutional Repository
language	English English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Muhammad Nadwi Hakimi, bin Adnan Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
description	It is well-known that single-trailer trucks are one of the common vehicles in transporting goods. Normally, single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvers due to excessive yaw and roll moments at the body center of gravity. In order to enhance the manoeuvrability as well as to avoid rollover accident in high speed manoeuverings, this study proposes an active roll control using steerable-wheel system middle axle of single-trailer truck. The steerable-wheel system is developed mainly focused to maintain the directional manoeuvrability and stability of the single-trailer truck by providing an electronically controlled wheel angle of middle axle mechanism. The system is designed to reject the unwanted lateral, yaw and roll motions based on trailer responses. Firstly, the control structure of the active roll control system is developed on a verified 18 degree-of-freedoms of single-trailer truck model. The control structure consists of trailer’s roll angle feedback control using PID controller and additional roll moment cancellation control using Skyhook controller. The controller is then enhanced by optimising the controller’s parameters using Particle Swarm Optimisation. From the simulation results, it can be seen that the proposed control structure is able to reject the unwanted motions in single-lane and double-lane change manoevers as compared to passive system. The benefits of PID-Skyhook controller are also discussed in this study by comparing the performances against the PID controller. Finally, active roll control with PID-Skyhook controller is then tested experimentally through hardware-in-the-loop simulation approach using a small-sized of single-trailer truck with steerable-wheel test rig. From the experimental results, a significantly good agreement between experiment and simulation is observed for lateral acceleration, yaw rate and roll angle responses. It also shows that the proposed steerable-wheel system was proven managed to reduce the unwanted lateral, yaw and roll motions by producing the appropriate wheel steer angle for middle axle to maintain the manoeuvrability and stability of the single-trailer truck from rollover accident.
format	Thesis
qualification_name	Master of Philosophy (MPhil)
qualification_level	Master's degree
author	Muhammad Nadwi Hakimi, bin Adnan
author_facet	Muhammad Nadwi Hakimi, bin Adnan
author_sort	Muhammad Nadwi Hakimi, bin Adnan
title	Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
title_short	Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
title_full	Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
title_fullStr	Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
title_full_unstemmed	Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
title_sort	rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle
granting_institution	Universiti Pertahanan Nasional Malaysia
granting_department	Centre For Graduate Studies
publishDate	2021
url	http://ir.upnm.edu.my/id/eprint/154/1/ROLLOVER%20PREVENTION%20SYSTEM%20%2825%20Pages%29.pdf http://ir.upnm.edu.my/id/eprint/154/2/ROLLOVER%20PREVENTION%20SYSTEM%20%28Full%29.pdf
_version_	1813223567465119744

Rollover prevention system of truck-trailer vehicle using steerable-wheel for middle axle

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