期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
卷 236, 期 9, 页码 2120-2137出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/09544070211050630
关键词
Tracking control; articulated vehicle; trajectory generation; active steering; all-wheel-driving
资金
- Project for Innovation Talents of Science and Technology of Sichuan Province [2020JDRC0008]
- Key Research Project of Sichuan Science and Technology Program [2020YFG0023]
- Applied Basic Research Programs of Sichuan Province [2018JY0557]
- Chengdu Technological Innovation R and D Project [2018-YF05-00813-SN]
- Project of State Key Laboratory of Traction Power for Southwest Jiaotong University [2021TPL_T10]
- Open Research Subject of Key Laboratory for Xihua University [SZJJ2015-049]
An adaptive tracking control method is proposed for achieving running control of all-wheel-driving and active-steering articulated vehicles with multiple units. The method involves real-time target trajectory generation and an adaptive tracking control system, which enables accurate trajectory tracking and coordinated movement for the vehicles. Simulation results show excellent tracking control performance and the method is compared with different control methods to demonstrate its effectiveness.
To achieve the running control of the all-wheel-driving and active-steering articulated vehicles (AWDASAVs) with n-units, an adaptive tracking control method is proposed in this paper, which includes a real-time target trajectory generation and an adaptive tracking control system. Firstly, the AWDASAV kinematics model is derived, and then the front-axle trace as the target trajectory is computed for all rear-axle steering by using data compressing and filtering, coordinate transformation, and local spline differences, which has small data storage and high computational efficiency and makes it easier to use in AWDASAV. Secondly, an adaptive tracking control system composed of an adaptive active steering controller and a differential distribution controller is designed to achieve accurate trajectory tracking and coordinated movement for AWDASAV. Finally, the AWDASAV simulation model with five-units was built in ADAMS by code development for cross-validation simulation, and the simulations with two cases at various speeds are carried out to verify the simulation model and control method. To further investigate the proposed method, the influence of three parameters on the tracking control performance and comparison with different control methods are carried out. The results exhibit excellent tracking control performance.
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