• International Journal of Control, Automation, and Systems
• /
• v.2 no.3
• /
• pp.289-297
• /
• 2004

This paper deals with the design and control of passive multiple trailer systems for practical applications. Due to the cost and complexity of the trailer mechanism, passive systems are preferred to active systems in this research. The design and control objective is to minimize the trajectory tracking errors occurring in passive multiple trailers. Three sorts of passive trailer systems, off-hooked, direct-hooked, and three-point, are discussed in this paper. Trajectory tracking performance and stability issues under constant curvature reference trajectories are investigated for these three types. As well, various simulations and experiments have been performed for each type. It is shown that the proposed off-hooked trailer system produces a tracking performance that is superior to the others.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09b
• /
• pp.133-136
• /
• 2003

This paper presents a fuzzy control scheme for backing up control of Truck-Trailer, which is nonlinear and unstable by using TSK(Takagi-Sugeno-kang) fuzzy system. The nonlinear system of Truck-Trailer was expressed by using TSK fuzzy model, and the TSK fuzzy controller was designed from TSK fuzzy model. The usefulness of the proposed algorithm for backing up truck-trailer is certificated by the computer simulations.

• Journal of the Korean Institute of Navigation
• /
• v.23 no.2
• /
• pp.1-9
• /
• 1999

A trailer truck is a major equipment for transporting containers, and its driving is difficult due to two degrees of freedom which exist in the joint part between truck and trailer. Especially Backing a trailer truck to a parking home is a difficult exercise for all but the most skilled truck drivers. Normal driving instincts lead to erroneous movements. When watching a truck driver backing toward a parking home, one often observes the driver backing, going forward, backing again, going forward, etc., and finally backing to the desired position along the parking home. This paper discusses the design of the controller to control the steering of a trailer truck while only backing up to a parking home from an initial position. In this paper, we propose a backing up control system for a container trailer truck using fuzzy theory where the primitive fuzzy control rules are macroscopically designed using an expert's knowledge, and the control rules are regulated by LIBL(Linguistic Instruction Based Learning) to enable to back up successfully the trailer tuck to a parking home from arbitrary initial position. The validity of the proposed parking control system is shown by applying it to some initial positions on the simulator for container trailer truck.

• Journal of Biosystems Engineering
• /
• v.28 no.2
• /
• pp.89-96
• /
• 2003

This study was aimed to identify how the main body vibration of power tiller will be transmitted to the trailer, and to find out the basic information for demage reducing method of agricultural products during transportation. The vertical vibration acceleration level was measured at 6 positions, i.e. engine, hitch, seal and three parts of trailer (front middle, and rear) for the not driving but at the engine speeds of 1,000rpm and driving at 0.35m/s. The results of this research could be summarized as follows; 1. For not driving, the accumulated acceleration level up to 120Hz was 50% of total accelerations at engine part and those were 28~41% at other parts. Those up to 40Hz were 20~30% at engine and hitch part and 2~8% at trailer part. And those up to 20Hz were 13~20% at engine and hitch part and 1~4% at trailer part 2. For the driving with 0.35m/s at paved road, the average vertical accelerations were in the range of 0.005~0.058m/s$^2$. The lowest value of 0.005m/s$^2$ was showed at engine part and the value of 0.031-0.058m/s$^2$ was showed at trailer part. 3. For the driving with 0.35m/s, the accumulated value of average vertical accelerations showed the lowest value at engine parts md showed 5 times value of engine part at trailer part especially highest value at middle part of trailer. 4. For the driving with 0.35m/s, the accumulated acceleration level up to 120Hz was 75% of total accelerations at engine part and those were 20~42% at other parts. Ant those up to 20Hz and 40Hz were 24~26% at engine part and 0.1~0.6% at trailer part.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.306-313
• /
• 1999

To measure the accurate position of mobile robot, dead-reckoning method using the encoder attached to each wheel is conventionally used, since it is easy to compute and inexpensive to develop. However, that method is useless when slip occurs and error is accumulated with time. This paper proposes a position estimation method using encoder trailer composed of 2 encoders only(ET-2). This method provides accurate position information even when slip occurs, and can reduce accumulated error if we select the proper link lengths of encoder trailer. Experimental results show the performance of ET-2 when slip occurs. Finally, accumulated systematic error from encoder resolution is analyzed in comparison with an existing method with encoder trailer composed of 3 encoders. (As a matter of convenience, we will call the existing encoder trailer ‘ET-3’)

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2000.05a
• /
• pp.11-15
• /
• 2000

This paper provides a basic study on automatic of a trailer type vehicle which consists of two parts such as a tractor and a trailer Backward moving and parking control is very important to automate this type of vehicle. However it is very difficult to control such their motion since a trailer type vehicle is a non-holonomic system. Therefore in this paper we propose the backward path tracking control algorithm for a trailer type vehicle. And also this paper presents the results of simulation to verify the effectiveness of the proposed control algorithm.

• The Journal of Korea Robotics Society
• /
• v.5 no.4
• /
• pp.286-293
• /
• 2010

The trailer system offers efficiency of transportation capability. However, it is difficult to control the backward motion. It is an open loop unstable problem. To solve this problem, we are proposed the driver assistance system. Driver assistance system assists a driver to control the backward motion of trailer system as if forward motion. A driver only secure the rear view of last passive trailer, and select the control input to drive the last passive trailer. The driver assistance system converts the control input of the driver into velocity and steering angle of the vehicle using the inverse kinematics. It is possible by electronic control input devices and the rear view camera. Effectiveness of driving assistance system is verified by the simulation and the experiments.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.11
• /
• pp.1831-1839
• /
• 2003

This paper deals with design and control of passive multiple trailer systems fer practical applications. Due to cost and complexity of trailer mechanism, passive systems are preferred to active systems in this research. The control objective is to minimize trajectory tracking errors of passive multiple trailers. Three types of passive trailer systems-direct-hooked, three-point, and off-hooked- are discussed in this paper. Trajectory tracking performance and stability issues under constant velocity motion are carried out for three types. Various simulations and experiments have been also performed for these three types. It is shown that the proposed off-hooked trailer system produces better tracking performance than the other types.

• Journal of Biosystems Engineering
• /
• v.20 no.1
• /
• pp.87-94
• /
• 1995

When farmer loads and unloads farm products with a trailer, linked to a tractor, the tractor-trailer is backed up to the loading duck. However, travelling backward is not easy and takes a time for even skilled operators. Therefore, unmanned backing up is necessary to save the effort. A backward controller of tractor-trailer was simulated using fuzzy logic and genetic algorithms. Operators drive the tractor-trailer back and forth several times for backing up to the loading duck. As the operators did it, a backward controller was designed using fuzzy logic. And genetic algorithms was applied to improve the performance of the backward controller. With the strings coded with the fuzzy membership functions, genetic operations were carried out. After 30 generations, the best fitted fuzzy membership functions were found. Those membership functions were used in the fuzzy backward controller. The fuzzy controller combined with genetic algorithms showed the better results than the fuzzy controller did alone.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.339-340
• /
• 2010