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Articulated vehicle stability control using brake-based torque vectoring
Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2021.
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| Format: | Thesis |
| Language: | English |
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University of Pretoria
2021
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| _version_ | 1867613569831403520 |
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| access_status_str | Open Access |
| author2 | Botha, T.R. |
| author_browse | Botha, T.R. |
| author_facet | Botha, T.R. |
| collection | Thesis |
| dc_rights_str_mv | © 2019 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2021. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/81136 |
| institution | University of Pretoria (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:38:14.452Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/81136 Articulated vehicle stability control using brake-based torque vectoring Botha, T.R. u15007538@tuks.co.za Els, P.S. (Pieter Schalk) Catterick, Jamie Articulated vehicles Torque vectoring Model predictive control Vehicle dynamics Stability UCTD Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2021. Statistics show that unstable articulated vehicles pose a serious threat to the occupants driving them as well as the occupants of the vehicles around them. An articulated vehicle typically experiences three types of instability: snaking, jack-knifing and rollover. An articulated vehicle subjected to any of these instabilities can result in major accidents. It is also known that many individuals are unaware of how to properly tow or pack a loaded articulated vehicle. These individuals are, therefore, at a high risk of causing the vehicle system to become unstable. It can hence be confidently said that a method in which an articulated vehicle can stabilise itself is a worthy research question. The method that is implemented in this study is to create a control system, using Nonlinear Model Predictive Control (NMPC), that has the capability of stabilising an articulated vehicle by applying torque vectoring to the trailer. In order for this control system to be applied, a nonlinear articulated vehicle MSC ADAMS model was constructed. The NMPC controller works by using a nonlinear explicit model to predict the future states of the vehicle and then finding the optimal left and right braking forces of the trailer by minimising the cost function using least squares minimisation. The cost function includes the towing vehicle yaw rate, trailer yaw rate and hitch angle and is minimised by minimising the error between the desired vehicle states and the actual states. It was found that the NMPC is capable of not only preventing instability but also causes the vehicle system to behave as if the trailer is unloaded. This conclusion means that this type of control system can be used on all types of articulated vehicles and shall ensure the safety of not only the vehicle occupants but other road users as well. Unfortunately, due to the impact of the 2020 COVID-19 pandemic, the experimental validation of the model had to be delayed significantly. It is for this reason that the experimental validation for the controller could not be done. SATC VDG UP mi2025 Mechanical and Aeronautical Engineering MEng (Mechanical Engineering) Unrestricted SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities SDG-03: Good health and well-being 2021-08-04T11:11:49Z 2021-08-04T11:11:49Z 2021-09 2021 Dissertation * S2021 http://hdl.handle.net/2263/81136 en © 2019 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf University of Pretoria |
| spellingShingle | Articulated vehicles Torque vectoring Model predictive control Vehicle dynamics Stability UCTD Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being Articulated vehicle stability control using brake-based torque vectoring |
| title | Articulated vehicle stability control using brake-based torque vectoring |
| title_full | Articulated vehicle stability control using brake-based torque vectoring |
| title_fullStr | Articulated vehicle stability control using brake-based torque vectoring |
| title_full_unstemmed | Articulated vehicle stability control using brake-based torque vectoring |
| title_short | Articulated vehicle stability control using brake-based torque vectoring |
| title_sort | articulated vehicle stability control using brake based torque vectoring |
| topic | Articulated vehicles Torque vectoring Model predictive control Vehicle dynamics Stability UCTD Engineering, built environment and information technology theses SDG-09 SDG-09: Industry, innovation and infrastructure SDG-11: Sustainable cities and communities Engineering, built environment and information technology theses SDG-03 SDG-03: Good health and well-being |
| url | http://hdl.handle.net/2263/81136 |