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A linear single-track model for articulated vehicles hasbeen implemented. The model can represent an articulatedvehicle with an arbitrary number of units eachwith an arbitrary number of axles. Lateral and yawdynamics are in focus but longitudinal effects in couplingsare also included. In the model, tire forces arelinear with respect to slip angle. The couplings betweenunits are represented as non-linear kinematicconstraints which are valid for small and large articulationangles.Four use cases are presented: Inverse dynamics forfeedforward control, frequency responses when varyingparameters, steady-state evaluations and dynamicsimulation. For these use cases, four parametrizationsof the model are used corresponding to a tractor with asemitrailer a truck with a dolly and a semitrailer, an Adouble(tractor+semitrailer+dolly+semitrailer) and anapproximate version of an airport baggage carrier withfive full trailers.

Vectorized single-track model in Modelica for articulated vehicles with arbitrary number of units and axles