A 9-DOF Tractor-Semitrailer Dynamic Handling Model for Advanced Chassis Control Studies
A nonlinear dynamic handling model for a tractor-semitrailer combination vehicle is presented in this report. The equations of motion are derived from the fundamental equations of dynamics in Euler's formulation without approximations. The model is modular in the sense that it is easy to change axle configuration, tyre model, suspension model, or to add new features. The primary aim of the model i