{"title":"带转向装置的通用牵引车-拖车系统的运动学和动力学建模","authors":"Marcel Moll , Timo Oksanen","doi":"10.1016/j.ifacol.2025.03.035","DOIUrl":null,"url":null,"abstract":"<div><div>The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 199-204"},"PeriodicalIF":0.0000,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic and Dynamic Modeling of a Generalized Tractor-Trailer System with Steering Actuation\",\"authors\":\"Marcel Moll , Timo Oksanen\",\"doi\":\"10.1016/j.ifacol.2025.03.035\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.</div></div>\",\"PeriodicalId\":37894,\"journal\":{\"name\":\"IFAC-PapersOnLine\",\"volume\":\"59 1\",\"pages\":\"Pages 199-204\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2025-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IFAC-PapersOnLine\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S2405896325002526\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC-PapersOnLine","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2405896325002526","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
Kinematic and Dynamic Modeling of a Generalized Tractor-Trailer System with Steering Actuation
The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.
期刊介绍:
All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.