Parameter Identification of Tractor-Semitrailer Model under Steering and Braking

Table 1

Nomenclature.

Parameter	Symbol	Unit
Fifth-wheel stiffness		N·m/rad
Roll stiffness of the tractor		N·m/rad
Roll stiffness of the semitrailer		N·m/rad
Cornering stiffness of the tractor’s front axle		N/rad
Cornering stiffness of the tractor’s rear axle		N/rad
Cornering stiffness of the semitrailer’s axle		N/rad
Tractor’s speed		m/s
Semitrailer’s speed		m/s
Tractor’s sideslip angle		Rad
Semitrailer’s sideslip angle		Rad
Tractor’s yaw rate		Rad/s
Semitrailer’s yaw rate		Rad/s
Articulated angle		Rad
Tractor’s roll angle		Rad
Semitrailer’s roll angle		Rad
Tractor’s roll rate		Rad/s
Semitrailer’s roll rate		Rad/s
Tractor’s entire vehicle mass		kg
Semitrailer’s entire vehicle mass		kg
Tractor’s sprung mass		kg
Semitrailer’s sprung mass		kg
Roll moment of inertia of the tractor’s sprung mass		kg·m^2
Roll moment of inertia of the semitrailer’s sprung mass		kg·m^2
Yaw moment of inertia of the tractor’s sprung mass		kg·m^2
Yaw moment of inertia of the semitrailer’s sprung mass		kg·m^2
Distance between the tractor CG and the front axle		m
Distance between the tractor CG and the rear axle		m
Distance between the tractor CG and the fifth wheel		m
Distance between the semitrailer CG and the axle		m
Distance between the semitrailer CG and the fifth wheel		m
Distance between the tractor CG and the roll axle line		m
Distance between the semitrailer CG and the roll axle line		m
Distance between the fifth wheel and the tractor roll axle line		m
Distance between the fifth wheel and the semitrailer roll axle line		m
Roll damping of the tractor’s suspension		N·s/m
Roll damping of the semitrailer’s suspension		N·s/m