Big Rig Articulation Control via Dual Steering Units
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Solution Overview
Problem
Existing methods for controlling the articulation angle of a big rig do not fully utilize the potential of the steering angle as a controlled variable, leading to compromised control quality and stability.
Innovation Solution
A method that combines two articulation angle control units, where the second unit requests a maximum or high target wheel angle to enhance dynamics, responsiveness, and stability, with the factor determining the contribution of each unit based on articulation angle deviation, allowing for high dynamics in high deviations and precise control in low deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single articulation angle control unit is used with conventional control algorithms, then the control system is simple, but the steering angle potential is not fully utilized leading to compromised control quality and stability
Solution Approach 1:
The control system is divided into two separate articulation angle control units: a first control unit that provides baseline articulation angle control, and a second control unit that specifically manages wheel steering angle. This segmentation allows each unit to specialize in particular control aspects, enabling the second unit to fully utilize steering angle potential for improved control quality and stability without overcomplicating the overall system architecture.
Solution Approach 2:
The second articulation angle control unit dynamically adjusts the wheel steering angle to maximize its range and potential. By making the steering angle control dynamic and adaptive rather than fixed, the system can fully exploit the available steering angle capacity to improve articulation angle control quality and stability during backing maneuvers.
2Speed
If the steering angle is not fully utilized, then the control system is stable, but the dynamics and responsiveness of articulation angle control are compromised
Solution Approach 1:
The control system continuously monitors the actual articulation angle and compares it to the target articulation angle. The second control unit uses this feedback information to dynamically adjust the wheel steering angle, ensuring that the full steering potential is utilized for rapid response while maintaining stability through continuous correction and adaptation to the current system state.
Solution Approach 2:
The system changes the steering angle parameter dynamically based on the articulation angle deviation and driving conditions. By adjusting the steering angle parameter to its maximum or near-maximum values when needed, the system achieves high dynamics and responsiveness while the control algorithm ensures stability through appropriate parameter modulation.
Data Source
AI summary
A method for controlling the articulation angle of a big rig, in which a first articulation angle control unit, which determines and controls a target wheel angle of at least one steerable wheel of the tractor unit so as to achieve a predefined target articulation angle of the big rig, is combined with a further articulation angle control unit for controlling the articulation angle with the first articulation angle control unit.