Abstract
The paper focuses on the presentation of a single-track dynamic model of tractor-semitrailer, a simplified linear model, which bases on reducing the double-track dynamic model with suitable assumptions that the lateral acceleration and the semi-trailer rotational angle with respect to a tractor are small. On the other hand, the frictional phenomena and interstice such as joint (fifth wheel) are neglected. A coordinate system is defined to precisely describe the translational and rotational motions of the vehicle. In details, the author provides the dynamics model, sets up the kinematics and dynamic relations and builds the differential equations of kinematics parameters presenting the articulated vehicle motions. These are the objective functions which are necessary to determine. After that, it can determine the trajectory center of gravity of tractor, joint and semitrailer, in addition, the swept path width of tractor-semitrailer. In the paper, the author uses Matlab-Simulink to solve this problem. The modeling results are the functions of kinematics and dynamic parameters that allow to determine the motional trajectory of tractor, joint and semi trailer and the swept path width of tractorsemi trailer with the excitative function that is the wheel turn angle. These suitable results are the fundaments to evaluate the dynamic model exactly and investigate the dynamics of articulated vehicles in a higher and more complicated level.
Keywords: Articulated Vehicles, Vehicle trajectory, Tractor-Semitrailer, Dynamic model