Table 2: Characteristics of the tractor semi-trailer with two rear axles.

ParameterValueParameterValue

𝑚 𝑠 𝑓 1 5069 kg 𝑚 𝑠 𝑟 1 2431 kg
𝑚 𝑢 𝑓 1 790 kg 𝑚 𝑢 𝑟 1 1590 kg
𝑎 1.288 m 𝑏 2.687 m
𝑘 𝑓 140000 N/rad 𝑙 𝑐 0.3 m
𝑘 𝑟 202000 N/rad 𝑑 𝑓 2.2 m
𝑑 𝑟 1.8 m 𝑓 0.5 m
𝑟 0.5 m 𝑠 0.242 m
𝑚 𝑠 2 6000 kg 𝑎 4.77 m
𝑏 3.34 m 𝑙 3.975 m
𝑙 8.11 m 𝑇 0.36 m