Yes
This paper presents a multi-degrees-of-freedom non-linear multibody dynamic
model of a three-axle heavy commercial vehicle tractor unit, comprising a subchassis, front
and rear leaf spring suspensions, steering system, and ten wheels/tyres, with a semi-trailer
comprising two axles and eight wheels/tyres. The investigation is mainly concerned with the
rollover stability of the articulated vehicle. The models incorporate all sources of compliance,
stiffness, and damping, all with non-linear characteristics, and are constructed and simulated
using automatic dynamic analysis of mechanical systems formulation. A constant radius turn
test and a single lane change test (according to the ISO Standard) are simulated. The constant
radius turn test shows the understeer behaviour of the vehicle, and the single lane change
manoeuvre was conducted to show the transient behaviour of the vehicle. Non-stable roll
and yaw behaviour of the vehicle is predicted at test speeds .90 km/h. Rollover stability of
the vehicle is also investigated using a constant radius turn test with increasing speed.
The articulated laden vehicle model predicted increased understeer behaviour, due to higher
load acting on the wheels of the middle and rear axles of the tractor and the influence of the
semi-trailer, as shown by the reduced yaw rate and the steering angle variation during the constant
radius turn. The rollover test predicted a critical lateral acceleration value where complete
rollover occurs. Unstable behaviour of the articulated vehicle is also predicted in the single lane
change manoeuvre.