Modelling and verification of tractor-semitrailer hitch joint via kinetic equations of motion based on the virtual Dugoff tire model approach

Harun, Mohamad Hafiz and Zubir, Amrina Rasyada and Ahmad, Fauzi and Sabino, Ubaidillah (2026) Modelling and verification of tractor-semitrailer hitch joint via kinetic equations of motion based on the virtual Dugoff tire model approach. Jurnal Kejuruteraan, 38 (2). pp. 649-662. ISSN 0128-0198

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Abstract

The hitch joint plays a critical role in heavy vehicles, serving as the primary linkage between the tractor and the semitrailer. To replicate accurately the behavior of an actual tractor–semitrailer system, it is necessary to consider the full range of kinematic and dynamic interactions acting on this joint. Previous hitch joint modeling approaches often relied on the Pacejka Magic Formula, which, although accurate, requires extensive parameter tuning and imposes high computational demand, making it inconvenient for real-time applications. This research addresses the limitation by developing a novel hitch joint model based on the Dugoff tire formulation, a well established technique in vehicle dynamics for simulating nonlinear tire behavior. Compared to the widely used Pacejka Magic Formula, the Dugoff model offers simpler implementation while maintaining competitive accuracy. The proposed hitch joint model was combined with a 12-degree-of-freedom (DOF) tractor-semitrailer handling model, where maneuverability predictions were evaluated using Double Lane Change (DLC) and Step Steer Cornering (SSC) tests, and verified using the validated simulation software, TruckSim. Simulation results demonstrated strong agreement between the proposed model and the validated TruckSim model, with average percentage differences in root mean square (RMS) values of 3.141% and 1.830% for the DLC and SSC tests, respectively. These findings confirm that the proposed hitch joint model can serve as a reliable dynamic representation for future applications in heavy-vehicle design optimization, handling control development, and rollover stability evaluation.

Item Type:	Article
Uncontrolled Keywords:	Tractor-semitrailer, Hitch joint model, Double lane change, Step steer cornering, Dugoff tire model
Divisions:	Faculty Of Mechanical Technology And Engineering
Depositing User:	Sabariah Ismail
Date Deposited:	13 Jul 2026 06:54
Last Modified:	13 Jul 2026 06:54
URI:	http://eprints.utem.edu.my/id/eprint/29962
Statistic Details:	View Download Statistic

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