Introduction
Electric trailers enhance the tractive performance of conventional articulated vehicles, yet pose significant instability risks (e.g., jack-knifing) during high-torque maneuversdue to inappropriate driving force intervention. This study systematically quantifies the impact of electric trailer propulsion on vehicle stability through dynamic co-simulation and defines its safety-critical operational boundaries to inform real-time control strategies.
Methods
A high-fidelity vehicle model integrating a tractor and electric trailer was developed in TruckSim, incorporating suspension dynamics and Pacejka tire models. Co-simulation with Simulink enabled bidirectional data exchange: TruckSim provided real-time vehicle states, while Simulink implemented driving force allocation algorithms. Stability criteria included steering angle threshold () and yaw rate deviation (). Critical scenarios (e.g., cornering at 0.4g lateral acceleration, µ-split braking) were tested.
Results
- Electric trailers improved tractive performance by 18% in straight-line acceleration but increased jack-knifing risk by 120% during low-friction cornering when driving torque exceeded 1,200 N·m.
- The safety boundary was characterized by dynamic constraints: articulation angle and yaw rate error . Model Predictive Control (MPC) enforcing these boundaries reduced instability incidents by 67% in emergency maneuvers.
Conclusions
Electric trailers require strict driving force constraints to mitigate instability. The proposed safety boundary, validated through TruckSim-Simulink co-simulation, provides a foundational framework for real-time control systems. Future work should address sensor latency and road uncertainty.
