Title: Hardware-in-the-loop simulation of active roll control for single-trailer truck using steerable wheel at the middle axle

Authors: Muhammad Nadwi Hakimi Adnan; Zulkiffli Abd Kadir; Khisbullah Hudha; Noor Hafizah Amer; Mohd Sabirin Rahmat; Mohamad Hafiz Harun; Vimal Rau Aparow

Addresses: Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Universiti Pertahanan Nasional Malaysia, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering and Built Environment, Department of Mechanical Engineering, MAHSA Univeristy, Jalan SP 2, Bandar Saujana Putra, 42610, Jenjarom, Selangor ' Faculty of Mechanical and Manufacturing Engineering Technology, Universiti Teknikal Malaysia Melaka, 76100, Durian Tunggal, Melaka, Malaysia ' Faculty Electrical and Electronic Engineering, University of Nottingham, Malaysia Campus, 43500, Semenyih, Selangor, Malaysia

Abstract: Normally, a single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvres. In order to improve the manoeuvrability and to avoid rollover accident, this study proposes an active roll control (ARC) using steerable-wheel system at middle axle for single-trailer truck. The system is developed to reject the unwanted yaw, lateral and roll motions based on trailer responses. The control structure of the ARC system is developed on a verified 18-DOF of single-trailer truck model. PID controller as trailer's roll angle feedback control is applied in the control structure and additional roll moment cancellation control using skyhook controller. From the experimental results using hardware-in-the-loop simulation (HiLS), a good similarity between simulation and experiment is observed for yaw rate, roll angle and lateral acceleration responses. It also shows that the developed steerable-wheel system was managed to reduce the unwanted lateral, yaw and roll motions.

Keywords: middle axle steerable wheel; truck-trailer; ARC; active roll control; HiLS; hardware-in-the-loop simulation; PID-skyhook.

DOI: 10.1504/IJHVS.2023.131979

International Journal of Heavy Vehicle Systems, 2023 Vol.30 No.1, pp.90 - 118

Received: 05 Jun 2021
Accepted: 07 Sep 2021
Published online: 06 Jul 2023 *