Dynamic modelling and simulation of log-hauling trucks with combined tire-cornering and braking forces

A general nonlinear procedure for yaw-roll-pitch models of log-hauling trucks, with different configurations, is developed based on the methodology of a general purpose computer code DYNOCOMBS (Dynamics of Constrained Multibody Systems). To implement the constraint equations for the special design feature in log-hauling trucks, a procedure is developed allowing the use of the code for general-purpose dynamic analysis of the trucks. The BNPS (Bakker, Nyborg, and Pacejka and Smithers Scientific Services, Inc.) tire model for combined tire-cornering and braking forces is used in the simulation. The validation test is conducted by comparing the numerical results of free-rolling cornering responses of the system with both of the measured responses in field tests and the simulation results from CSTT (Centre for Surface Transportation Technology) model. The simulation study is carried out on three cases of evasive maneuvers with combined cornering and braking.