Search Results for truck-and-trailer-systems

To enhance the robustness properties of the closed-loop system, the center of the lookahead circle can be moved along ... For truck and trailer systems with on-axle hitching (standard n-trailer), its flatness property can be explored to ...

Author: Oskar Ljungqvist

Publisher: Linköping University Electronic Press

ISBN: 9789176851302

Category:

Page: 78

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During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. Thanks to this technology enhancement, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems (ADAS) and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed areas, such as mines, harbors and loading/offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, different truck and trailer systems are used to transport materials. These systems are composed of several interconnected modules, and are thus large and highly unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control frameworks for such systems. First, a cascade controller for a reversing truck with a dolly-steered trailer is presented. The unstable modes of the system is stabilized around circular equilibrium configurations using a gain-scheduled linear quadratic (LQ) controller together with a higher-level pure pursuit controller to enable path following of piecewise linear reference paths. The cascade controller is then used within a rapidly-exploring random tree (RRT) framework and the complete motion planning and control framework is demonstrated on a small-scale test vehicle. Second, a path following controller for a reversing truck with a dolly-steered trailer is proposed for the case when the obtained motion plan is kinematically feasible. The control errors of the system are modeled in terms of their deviation from the nominal path and a stabilizing LQ controller with feedforward action is designed based on the linearization of the control error model. Stability of the closed-loop system is proven by combining global optimization, theory from linear differential inclusions and linear matrix inequality techniques. Third, a systematic framework is presented for analyzing stability of the closed-loop system consisting of a controlled vehicle and a feedback controller, executing a motion plan computed by a lattice planner. When this motion planner is considered, it is shown that the closed-loop system can be modeled as a nonlinear hybrid system. Based on this, a novel method is presented for analyzing the behavior of the tracking error, how to design the feedback controller and how to potentially impose constraints on the motion planner in order to guarantee that the tracking error is bounded and decays towards zero. Fourth, a complete motion planning and control solution for a truck with a dolly-steered trailer is presented. A lattice-based motion planner is proposed, where a novel parametrization of the vehicle’s state-space is proposed to improve online planning time. A time-symmetry result is established that enhance the numerical stability of the numerical optimal control solver used for generating the motion primitives. Moreover, a nonlinear observer for state estimation is developed which only utilizes information from sensors that are mounted on the truck, making the system independent of additional trailer sensors. The proposed framework is implemented on a full-scale truck with a dolly-steered trailer and results from a series of field experiments are presented.
2019-01-22 By Oskar Ljungqvist

The book begins by discussing the trucking industry, professional certifications, safety, tools, and measuring equipment. Then, each system is thoroughly covered--from electrical and lighting to brakes and transmissions.

Author: Mike Thomas

Publisher: McGraw Hill Professional

ISBN: 9780071809542

Category: Technology & Engineering

Page: 752

View: 422

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The most complete visual guide to servicing medium- and heavy-duty truck systems Written by an expert with decades of experience as an automotive and diesel technician and instructor, Truck and Trailer Systems offers comprehensive information on medium- and heavy-duty truck service. The book begins by discussing the trucking industry, professional certifications, safety, tools, and measuring equipment. Then, each system is thoroughly covered--from electrical and lighting to brakes and transmissions. Factory procedures from the most common manufacturers for diagnosis and repair are presented along with annotated photos and diagrams. This practical, authoritative resource is essential for those starting out in the field as well as experienced professionals in need of a detailed, on-the-job reference. Chapters include: Objectives Notes Cautions Service tips Photos and diagrams Chapter reviews Truck and Trailer Systems covers: Industry safety Basic electrical Magnetism Batteries Starting system Charging system Lighting and wiring Computer systems Mobile heating, ventilation, and air-conditioning systems Tires, wheels, and wheel end systems Frames and suspensions Steering systems Trailers and fifth wheels Hydraulic brake systems Air brake foundation brakes Air brake air systems Antilock brake systems Drive lines Clutches Drive axles Single and twin countershaft manual transmissions Automated manual transmissions Automatic transmissions Allison transmission overhaul PMI Auxiliary power units
2013-10-22 By Mike Thomas

Trailers share many of the systems with the trucks used to haul them. For instance, there are few differences between the braking systems on truck and trailers, so to properly understand trailer brake operation, you should understand ...

Author: Sean Bennett

Publisher: Cengage Learning

ISBN: 9781305686229

Category: Technology & Engineering

Page: 1328

View: 165

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Comprehensive, technically accurate, and up-to-date, HEAVY DUTY TRUCK SYSTEMS, 6E is the best-selling introduction to servicing medium- and heavy-duty trucks. Now in striking full color, the sixth edition helps users develop a strong foundation in electricity and electronics, power train, steering and suspension, brakes, and accessories systems and presents introductory material on servicing, safety, tools, and preventive maintenance. This edition is updated with full coverage of ASE Education Foundation competencies and the latest technology, including 2014 J1939 updates and access tools, Wingman radar, CMS, and Allison TC10 transmissions (introduced in 2013). The book's proven pedagogy is enhanced by extensive sets of review questions and over 1700 full-color photographs and pieces of art that help readers visualize key concepts and servicing procedures. Important Notice: Media content referenced within the product description or the product text may not be available in the ebook version.
2015-01-06 By Sean Bennett

Hybrid Control of a Truck and Trailer Vehicle" Claudio Altafini", Alberto Speranzon”, and Karl Henrik Johansson” ... When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations.

Author: Claire J. Tomlin

Publisher: Springer

ISBN: 9783540458739

Category: Computers

Page: 480

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This book constitutes the refereed proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control, HSCC 2002, held in Stanford, California, USA, in March 2002. The 33 revised full papers presented were carefully reviewed and selected from 73 submissions. All current issues in hybrid systems are addressed including formal models and methods and computational representations, algorithms and heuristics, computational tools, and innovative applications.
2003-07-31 By Claire J. Tomlin

74–576 , 1974–2 C.B. 349 . manufacturer's tax with respect to sales made on or ment top for a truck , trailer , or semitrailer body , after December 31 , 1970. Rev. Rul . 67-232 re- 76.226 Truck ; log carrying systems and op- made and ...

Author:

Publisher:

ISBN: UOM:39015077157181

Category: Excise tax

Page:

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However, these studies have not analyzed the time-delay effect to the control system. In this section, we apply the controller to backing up control of a truck-trailer system with time-delay. 5.1 Models of a truck-trailer M. Tokunaga ...

Author: Ahmad Taher Azar

Publisher: BoD – Books on Demand

ISBN: 9789537619923

Category: Computers

Page: 228

View: 568

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While several books are available today that address the mathematical and philosophical foundations of fuzzy logic, none, unfortunately, provides the practicing knowledge engineer, system analyst, and project manager with specific, practical information about fuzzy system modeling. Those few books that include applications and case studies concentrate almost exclusively on engineering problems: pendulum balancing, truck backeruppers, cement kilns, antilock braking systems, image pattern recognition, and digital signal processing. Yet the application of fuzzy logic to engineering problems represents only a fraction of its real potential. As a method of encoding and using human knowledge in a form that is very close to the way experts think about difficult, complex problems, fuzzy systems provide the facilities necessary to break through the computational bottlenecks associated with traditional decision support and expert systems. Additionally, fuzzy systems provide a rich and robust method of building systems that include multiple conflicting, cooperating, and collaborating experts (a capability that generally eludes not only symbolic expert system users but analysts who have turned to such related technologies as neural networks and genetic algorithms). Yet the application of fuzzy logic in the areas of decision support, medical systems, database analysis and mining has been largely ignored by both the commercial vendors of decision support products and the knowledge engineers who use them.
2010-02-01 By Ahmad Taher Azar

5.3.12 TRANSFER VEHICLES Most transfer systems use tractor trailers for hauling wastes; however, other types of vehicles may also be used. 5.3.12.1 Trucks and Semitrailers Trucks and semitrailers are flexible and effective because they ...

Author: John Pichtel

Publisher: CRC Press

ISBN: 9781466585195

Category: Law

Page: 682

View: 463

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Waste Management Practices: Municipal, Hazardous, and Industrial, Second Edition addresses the three main categories of wastes (hazardous, municipal, and "special" wastes) covered under federal regulation outlined in the Resource Conservation and Recovery Act (RCRA), an established framework for managing the generation, transportation, treat
2014-02-26 By John Pichtel

A practical medium- and heavy-duty truck systems Featuring more than 100 in-depth lab exercises, this hands-on guide provides the practice you need to succeed as a medium- and heavy-duty truck service technician.

Author: Mike Thomas

Publisher: McGraw Hill Professional

ISBN: 9780071824569

Category: Technology & Engineering

Page: 320

View: 385

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A practical medium- and heavy-duty truck systems Featuring more than 100 in-depth lab exercises, this hands-on guide provides the practice you need to succeed as a medium- and heavy-duty truck service technician. The labs meet and exceed NATEF standards. Every system is thoroughly covered--from electrical and lighting to brakes and transmissions. Each lab includes: Objective of the lab Safety precautions Tools needed to complete the lab Challenging review questions help to reinforce the topics covered and are patterned after the typical questions found on the ASE Medium/Heavy Duty Truck Certification tests (T3 through T8). Written by an expert with decades of experience as an automotive and diesel technician and instructor, this lab manual is the perfect companion to the comprehensive text, Truck and Trailer Systems. Truck and Trailer Systems Lab Manual covers: Vehicle identification numbers Engine, transmission, and drive axle ID tag numbers Safety Tools and measuring equipment Basic electrical Magnetism Batteries Starting system Charging system Lighting and wiring Computer systems Mobile heating, ventilation, and air-conditioning systems Tires, wheels, and wheel end systems Frames and suspensions Steering systems Trailers and fifth wheels Hydraulic brake systems Air brake foundation brakes Air brake air system Anti-lock brake systems Drive lines Clutches Drive axles Single and twin countershaft manual transmissions Automated manual transmissions Automatic transmissions Allison automatic transmissions PMI Auxiliary power units
2014-03-08 By Mike Thomas

Conventional truck braking systems are limited in their ability to take full advantage of all of the friction ... and Olson et al. assume that this same level of braking efficiency is applicable to tractor-trailer trucks (28,35).

Author: Douglas W. Harwood

Publisher: Transportation Research Board

ISBN: 9780309087797

Category: Express highways

Page: 119

View: 474

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Incentive pay systems were used in only a few of the truckparts division , compared with the body and trailer establishments , and this accounts to some chassis divisions , appears to reflect the greater degree for the lower rates found ...

Author:

Publisher:

ISBN: MINN:31951D00825640Y

Category: Labor

Page:

View: 727

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