1993 Volume 55 Issue 4 Pages 23-31
Step response and 90 degree turn tests were performed by using the prototype trailer equipping the active steering control system reported in the previous paper.
In the step response test, when a conventional trailer or a trailer equipping the link type passive control system were used, reply of the angle of traction was slow. Therefore, the rate of the angle change was asymptotic to the desired value. On the other hand, when the active control method was applied, the angle reached desired value much faster. In 90 degree turn test, the difference between trajectory of the tractor and that of the trailer was large in the cases of the conventional trailer and the trailer with link method. Though a small cut-in was observed in the early stage of the turn, tracking error of the trailer equipping the active control system was small.
Theoretical equations describing the active control method for offset trailer were derived.
