Articulated Convoy Steering Control for Reverse Maneuvering
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Solution Overview
Problem
Articulated road motor vehicle convoys with coupling without yaw rotational freedom face challenges in maneuverability, particularly when reversing or steering on the spot, due to accordion-like folding, which requires significant force and is difficult to manage, especially for unaccustomed drivers.
Innovation Solution
Equipping the front axle with an independently operable steering device and maintaining the instantaneous axis of rotation equidistant from the transverse axes of the wheel sets, allowing for single-track trajectory registration and reduced slippage, while the caster offset is minimized to reduce mechanical effort needed for steering, and the articulation devices are configured to prevent blocking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the convoy is formed with vehicles attached by couplers without yaw rotational freedom, then the convoy maintains a single-track trajectory, but the maneuverability in reverse and on-spot steering becomes difficult due to accordion-like folding
Solution Approach 1:
The patent introduces dynamic control of articulation angles θ1 and θ2 during reverse movement. The control unit actively adjusts these angles in real-time based on steering angle φ, transforming the static articulated structure into a dynamically controllable system that prevents accordion folding while maintaining single-track trajectory.
Solution Approach 2:
The patent changes the operational parameters of the articulation devices by controlling the articulation angles θ1 and θ2 to specific values during reverse movement. This parameter control ensures that the instantaneous axis of rotation remains equidistant from transverse axes of wheel sets, enabling smooth reverse maneuvering without accordion folding.
2Adaptability or versatility
If steering on the spot is performed with articulated convoy, then the front axle can be steered, but significant force is required due to counter-steering of rear axle and accordion folding
Solution Approach 1:
The control unit receives feedback on the steering angle φ and automatically adjusts the articulation angles θ1 and θ2 in response. This feedback mechanism eliminates the need for manual counter-steering efforts by the driver, as the system autonomously compensates for the articulated configuration during on-spot steering.
Solution Approach 2:
The patent replaces manual mechanical steering effort with an automated control system. The control unit electronically manages the articulation devices, substituting the need for significant physical force applied by the driver through the steering mechanism.
3Ease of operation
If the caster offset is reduced, then the mechanical effort for steering is reduced, but the steering geometry becomes more complex
Solution Approach 1:
The patent replaces complex mechanical steering geometry adjustments with electronic control. Instead of mechanically optimizing caster offset, the control unit electronically manages articulation angles to achieve low steering effort, simplifying the mechanical design while maintaining ease of operation.
Data Source
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AI summary
This method of controlling a road motor convoy includes: - the provision of a road motor convoy consisting of first and second vehicles attached together, - the control (506), during a reverse movement, of first and second articulation devices of the first and second vehicles so as to maintain the trajectory followed by the geometric center of a front wheel train of the first vehicle tangent to a circle of gyration whose center is located at the intersection of transverse axes of middle and rear wheel trains of the road motor convoy.