Transcript Lateral PBCs - Energimyndigheten
Integrated Control of Propulsion, Braking and Steering of Long Modular Heavy Vehicle Combinations
Jonas Fredriksson Department of Signals and Systems Chalmers University of Technology
Department of Signals and Systems
INTEGRATED CONTROL OF PROPULSION, BRAKING AND STEERING OF LONG MODULAR HEAVY VEHICLE COMBINATIONS START- AND END DATE:
2011-03-01 – 2016-03-01
PARTNERS:
Volvo GTT and Chalmers
PROGRAMME:
Fordonsstrategisk Forskning och Innovation (FFI) – Energi & miljö
BUDGET:
8 985 800 SEK (4 414 250 SEK Energimyndigheten)
PHD STUDENT:
Maliheh Sadeghi Kati
Department of Signals and Systems
• • • Background Project status Summary/Conclusion
Agenda
Department of Signals and Systems
Heavy Vehicle Combination Topologies
• • •
Conventional vehicle combinations
Maximum length of 18.75 m Maximum weight of 40 tons In Europe • • •
Modular vehicle combinations
Maximum length of 25.25 m Maximum weight of 60 tons In Sweden and Finland
Prospective modular vehicle combinations 3 of 8 Department of Signals and Systems
• Transport efficiency
Equations
•
> + 1 > 1 + 1
Environmental impact
< + 1 < 1 + 1
• Safety
= 1 = 1 Department of Signals and Systems
Safety regulations/standards
Today:
Prescriptive regulations and standards
Put restrictions on the vehicle design (dimensions and mass) and specifying how the vehicle combinations should look like but not how they should perform on the road.
Proposal:
Performance Based Characteristics
•
Longitudinal PBCs
– – – – – Startability Gradeability Acceleration capability Stopping distance Down-grade holding •
Lateral PBCs
– – – – – – – Rearward Amplification Low Speed Swept Path High Speed Transient Offtracking High Speed Steady-state Offtracking Yaw Damping Ratio Straight Line Offtracking etc
Department of Signals and Systems
Tractor+semitrailer Vs A-double
The aim is to study the performance of an A-double combination (double load capacity) compared to an EU-standard tractor-semitrailer.
Smart dolly: Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs: Lateral PBCs: Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs: Lateral PBCs: Department of Signals and Systems
Tractor+semitrailer Vs A-double
Longitudinal PBCs: Lateral PBCs: Department of Signals and Systems
Summary/Conclusion
• • Framework for evaluating long vehicle combinations, PBCs – Swedish Transport Adminstration Propulsion, Braking and Steering can improve the performance of long vehicle combinations • Future work: – Robust control of long vehicle combinations
Department of Signals and Systems
Department of Signals and Systems