It is difficult to simulate accuracy motion of tractor semi-trailer based on dynamic model. A full dynamic model of the tractor semi-trailer is established base on Dynamics of Multi Body Systems and the Newton-Euler equations. Hitch forces and tyre forces are determined by adaptive models. These model are Light - Grey - Box- Model or Dark - Grey - Box- Model. The model of the tractor semi-trailer is hybrid model. The focus of hybrid model is applied to improve the accuracy of the tractor semi-trailer dynamic model.
Keyword
Dark-Grey-Box-Model, White-Box-Model, Hybrid Model, Dynamics of Multi Body Systems
