Studying a Possibility to Apply the Control Law Synthesized on the Basis of the Kinematic Model to Control the Dynamic Model of Reverse Road Train Motion

Abstract

The current research contains studying of an issue solution state related to reverse motion of a road train consisting of a tractor truck and a semitrailer with a hitching unit on the tractor truck rear axle directly (an “on-axle hitching” model). Based on analyzing approaches towards the kind of road train steering laws synthesis it’s decided to synthesize kinematic model controlling using Lyapunov’s functions method. The main research idea is in checking the possibility to apply the synthesized law to control a dynamic model. Comparative analysis of trajectory phase portraits, folding and steering angles and also analyzing transitions quality when changing road train motion speed have been performed to study synthesized laws behaviour for different models. Steering synthesis and computational integration are done in the Maple system. The kind of analysis allows making a conсlusion that it's possible to use the steering law synthesized for a kinematic model to control a dynamic model when moving at low speeds, with small folding angle initial disturbance and for short time intervals.