Proceedings of the Korean Society for Agricultural Machinery Conference (한국농업기계학회:학술대회논문집)
- 1993.10a
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- Pages.1147-1156
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- 1993
Analysis of the Lateral Motion of a Tractor-Trailer Combination (II) Operator/Vehicle System with Time Delay for Backward Maneuver
- Mugucia, S.W. (Department of Agricultural Engineering Iwate University) ;
- Torisu, R. (Department of Agricultural Engineering Iwate University) ;
- Takeda, J. (Department of Agricultural Engineering Iwate University)
- Published : 1993.10.01
Abstract
In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.
Keywords
- Backward maneuver;
- Frequency domain analysis;
- Human operator describing function;
- Lane change maneuver;
- Time delay;
- Tractor - trailer combination