Abstract
This paper is concerned with the running stability of tractor-semitrailer systems at braking. Firstly, we construct nonlinear equations of motion for the articulated vehicles which have 9 degrees of freedom, i,e., forward, lateral, yawing, rolling, pitching, and relative yawing motion. Secondly, Simulation study is carried out to show the vehicle performance in realistic situation. By using the concept of load rate of each tire, we confirmed that the model shows the motion of limit performance conditions at the braking. Finally, the relationship between limit performance, road gradient condition, and vehicle parameters is shown.
