Vehicle model parameters and symbols
| Symbol | Parameter name | Value | Unit |
|---|---|---|---|
| mt | Tractor mass | 8,500 | kg |
| ms | Semitrailer mass | 7,600 | kg |
| at | Distance from tractor’s centriod to front axle | 1.8 | m |
| bt | Distance from tractor’s centriod to rear axle | 2.1 | m |
| c | Distance from tractor’s centriod to articulated point | 1.8 | m |
| as | Distance from semitrailer’s centriod to articulated point | 5.05 | m |
| bs | Distance from semitrailer’s centriod to rear axle | 2.9 | m |
| Izt | Tractor’s yaw moment of inertia | 35,100 | kgm2 |
| Izs | Semitrailer’s yaw moment of inertia | 107,800 | kgm2 |
| Jw | Wheel moment of inertia | 0.4 | kgm2 |
| rw | Wheel radius | 0.505 | m |
| Iw | Moment of inertia of steering wheel around spin | 10 | kgm2 |
| Cw | Damping coefficient of steering wheel around spin | 60 | — |
| Kw | Steering system stiffness | 2,000 | kgm2 |
| ε | Tractor front tire pneumatic trail | 0.01 | m |
| δf | Front wheel steering angle of tractor | — | rad |
| φt | Tractor yaw angle | — | rad/s |
| φs | Semitrailer yaw angle | — | rad/s |
| θ | Articulated angle | — | rad |
| ωwf(r) | Front (rear) wheels’ rolling angular velocity of tractor | — | rad/s |
| ωs | Wheels’ rolling angular velocity of semitrailer | — | rad/s |
| uwf(r) | Tractor’s velocities of front and rear wheels’ centers | — | m/s |
| uws | Semitrailer’s velocities of wheels’ centers | — | m/s |
| Fyf(r) | Front (rear) wheels’ lateral force of tractor | — | N |
| Fys | Wheels’ lateral force of semitrailer | — | N |
| Fxfc | Tractor’s front axle longitudinal driving force by controller | — | N |
| Fxrc | Tractor’s rear axle longitudinal driving force by controller | — | N |
| Fxsc | Semitrailer’s axle longitudinal driving force by controller | — | N |
| Mc | Yaw moment by controller | — | Nm |
| δswc | Steering wheel angle by controller | — | rad |
| Symbol | Parameter name | Value | Unit |
|---|---|---|---|
| Tractor mass | 8,500 | kg | |
| Semitrailer mass | 7,600 | kg | |
| Distance from tractor’s centriod to front axle | 1.8 | m | |
| Distance from tractor’s centriod to rear axle | 2.1 | m | |
| Distance from tractor’s centriod to articulated point | 1.8 | m | |
| Distance from semitrailer’s centriod to articulated point | 5.05 | m | |
| Distance from semitrailer’s centriod to rear axle | 2.9 | m | |
| Tractor’s yaw moment of inertia | 35,100 | kgm2 | |
| Semitrailer’s yaw moment of inertia | 107,800 | kgm2 | |
| Wheel moment of inertia | 0.4 | kgm2 | |
| Wheel radius | 0.505 | m | |
| Moment of inertia of steering wheel around spin | 10 | kgm2 | |
| Damping coefficient of steering wheel around spin | 60 | — | |
| Steering system stiffness | 2,000 | kgm2 | |
| Tractor front tire pneumatic trail | 0.01 | m | |
| Front wheel steering angle of tractor | — | rad | |
| Tractor yaw angle | — | rad/s | |
| Semitrailer yaw angle | — | rad/s | |
| Articulated angle | — | rad | |
| Front (rear) wheels’ rolling angular velocity of tractor | — | rad/s | |
| Wheels’ rolling angular velocity of semitrailer | — | rad/s | |
| Tractor’s velocities of front and rear wheels’ centers | — | m/s | |
| Semitrailer’s velocities of wheels’ centers | — | m/s | |
| Front (rear) wheels’ lateral force of tractor | — | N | |
| Wheels’ lateral force of semitrailer | — | N | |
| Tractor’s front axle longitudinal driving force by controller | — | N | |
| Tractor’s rear axle longitudinal driving force by controller | — | N | |
| Semitrailer’s axle longitudinal driving force by controller | — | N | |
| Yaw moment by controller | — | Nm | |
| Steering wheel angle by controller | — | rad |
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