Evaluation of Slow Speed Off-Tracking of Steerable Axle Tractor Trailer Combinations
Steerable multi axle trailers are deployed for transportation due to their cost effectiveness and improved manoeuvrability then non-steered trailers. High speed manoeuvres of steerable axle trailer are considered dangerous for stability due to complex dynamic behaviour and researched for decades. Off-Tracking is an important parameter which influences the dynamic behaviour of steerable axle trailer at both low and high speed. Off-tracking is defined as maximum radial offset between path of the tractor’s front axle centre and trailer’s rearmost axle centre during a specific manoeuvre. Off-tracking, being a slow speed phenomenon becomes major concern for safe and accident free movement even at slow speeds. A linear 3-DOF yaw plane model of steerable axle tractor trailer combination is developed using Lagrangian approach, which requires steering angles of truck’s front axle and all trailer axles to simulate the system.