2013
IMAACA 2013 Proceeding
Dynamic modeling and control of off-road truck using bond graphs
Authors: Ashish Gupta, Vikas Rastogi
Abstract
The truck vibration problems have increase in recent years due to the rapid industrlization and demand for the modern machines and product to transfer from one place to the other. Vibration in modern off-road road trucks can affect driver comfort, cargo safety, equipment wear and productivity. This work presents the modeling of off road truck using bond graphs. The vehicle system is comprised of cab, cargo, base frame, suspension system and pneumatic tires. In this work, dynamic behavior of the truck has been presented using bond graphs, which include the wheel/tires, axle/suspension and frame of the vehicle. The vehicle is modeled with the integration of rigid bodies that are allowed to move the dimensional space subject to forces and moments. This works also incorporating Proportional Integrated Derivative (PID) control in the suspension system of truck. These controllers are frequently designed in the frequency domain, and on the hypothesis of linearity. These control systems reduce the deflection of suspension system and increase comfort level of driver.
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