A Nonlinear Study of the Steady - State Turning Behavior of Car - Trailer Systems

The equations governing the steady-state turning behavior of car-trailer systems are derived without linearization in any of the motion variables and with full consideration of lateral and longitudinal load transfer. Furthermore, the wheel-roadway interaction forces are expressed as nonlinear functions of tire slip angles. The resulting system of variously nonlinear and transcendental equations is solved numerically for a specific vehicle system, and the principal results are condensed into a carpet plot, which can be used as a handling diagram.