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Research Papers

Linear Vehicle Dynamics of the TowPlow, a Steerable Articulated Snowplow, and Its Kinematics-Based Steering Control

[+] Author and Article Information
Jae Young Kang

Department of Mechanical and
Aerospace Engineering,
University of California, Davis,
One Shields Avenue,
Davis, CA 95616
e-mail: jykkang@ucdavis.edu

Steven A. Velinsky

Fellow ASME
Department of Mechanical and
Aerospace Engineering,
University of California, Davis,
One Shields Avenue,
Davis, CA 95616
e-mail: savelinsky@ucdavis.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 7, 2014; final manuscript received February 17, 2015; published online April 17, 2015. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(8), 081004 (Aug 01, 2015) (10 pages) Paper No: DS-14-1168; doi: 10.1115/1.4030038 History: Received April 07, 2014; Revised February 17, 2015; Online April 17, 2015

The TowPlow is a novel type of snowplow, which consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The system is used to plow two typical traffic lanes simultaneously. In this paper, a linear dynamic model is developed in order to investigate the dynamic behavior of this system and its stability limits. Dynamic simulations of various maneuvers are performed, and kinematics-based control is implemented to investigate performance of the trailer's corrective steering. The goal is to ensure that the trailer does not intrude into adjacent lanes during plowing operations while also ensuring that both lanes are sufficiently cleared. Even though the control input is obtained from kinematic analysis, which does not take forces and inertia into account, the simulation results clearly show that the corrective steering helps the TowPlow meet its performance goals.

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References

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Figures

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Fig. 1

Trailer of the TowPlow system

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Fig. 2

Scheme of the TowPlow and associated notations

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Fig. 3

Radius of road curvature versus trailer steering angle for constant total articulation angle θt = 30 deg

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Fig. 4

Tractor steering angle versus trailer steering angle for constant total articulation angle θt = 30 deg

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Fig. 5

Linear planar TowPlow model and parameters

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Fig. 6

Forces at the hitch points and the tongue assembly

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Fig. 7

Eigenvalues of the matrix M−1A with varying longitudinal velocities

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Fig. 8

Eigenvalues of the matrix M−1A with varying inertias

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Fig. 9

Eigenvalues of the matrix M1A with varying inertias: (a) minimum tractor inertia with varying trailer inertias and (b) maximum trailer inertia with varying tractor inertias

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Fig. 10

Scheme of the controlled system

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Fig. 11

Simulation results of the TowPlow comparing uncontrolled and controlled system for the step input: (a) tractor steering angle, (b) trailer steering angle, (c) tractor yaw rate, (d) trailer yaw rate, and (e) total articulation angle

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Fig. 12

Simulation results of the TowPlow comparing uncontrolled and controlled system for the sine input: (a) tractor steering angle, (b) trailer steering angle, (c) tractor yaw rate, (d) trailer yaw rate, and (e) total articulation angle

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