The TowPlow is a novel type of snowplow, which consists of a conventional snowplow vehicle and a steerable, plow-mounted trailer. The system is used to plow two typical traffic lanes simultaneously. In this paper, a linear dynamic model is developed in order to investigate the dynamic behavior of this system and its stability limits. Dynamic simulations of various maneuvers are performed, and kinematics-based control is implemented to investigate performance of the trailer's corrective steering. The goal is to ensure that the trailer does not intrude into adjacent lanes during plowing operations while also ensuring that both lanes are sufficiently cleared. Even though the control input is obtained from kinematic analysis, which does not take forces and inertia into account, the simulation results clearly show that the corrective steering helps the TowPlow meet its performance goals.
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August 2015
Research-Article
Linear Vehicle Dynamics of the TowPlow, a Steerable Articulated Snowplow, and Its Kinematics-Based Steering Control
Jae Young Kang,
Jae Young Kang
Department of Mechanical and
Aerospace Engineering,
e-mail: jykkang@ucdavis.edu
Aerospace Engineering,
University of California
, Davis
,One Shields Avenue
,Davis, CA 95616
e-mail: jykkang@ucdavis.edu
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Steven A. Velinsky
Steven A. Velinsky
1
Fellow ASME
Department of Mechanical and
Aerospace Engineering,
e-mail: savelinsky@ucdavis.edu
Department of Mechanical and
Aerospace Engineering,
University of California
, Davis
,One Shields Avenue
,Davis, CA 95616
e-mail: savelinsky@ucdavis.edu
1Corresponding author.
Search for other works by this author on:
Jae Young Kang
Department of Mechanical and
Aerospace Engineering,
e-mail: jykkang@ucdavis.edu
Aerospace Engineering,
University of California
, Davis
,One Shields Avenue
,Davis, CA 95616
e-mail: jykkang@ucdavis.edu
Steven A. Velinsky
Fellow ASME
Department of Mechanical and
Aerospace Engineering,
e-mail: savelinsky@ucdavis.edu
Department of Mechanical and
Aerospace Engineering,
University of California
, Davis
,One Shields Avenue
,Davis, CA 95616
e-mail: savelinsky@ucdavis.edu
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 7, 2014; final manuscript received February 17, 2015; published online April 17, 2015. Assoc. Editor: Junmin Wang.
J. Dyn. Sys., Meas., Control. Aug 2015, 137(8): 081004 (10 pages)
Published Online: August 1, 2015
Article history
Received:
April 7, 2014
Revision Received:
February 17, 2015
Online:
April 17, 2015
Citation
Kang, J. Y., and Velinsky, S. A. (August 1, 2015). "Linear Vehicle Dynamics of the TowPlow, a Steerable Articulated Snowplow, and Its Kinematics-Based Steering Control." ASME. J. Dyn. Sys., Meas., Control. August 2015; 137(8): 081004. https://doi.org/10.1115/1.4030038
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