欠驱动半挂汽车列车的运动建模与跟踪控制

doi:10.7964/jdxbgxb201405012

吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (5): 1296-1302.doi: 10.7964/jdxbgxb201405012

欠驱动半挂汽车列车的运动建模与跟踪控制

游峰¹, 张荣辉², 王海玮¹, 徐建闽¹, 温惠英¹

1.华南理工大学土木与交通学院,广州 510640;
2.中国科学院新疆理化技术研究所,乌鲁木齐 830011

收稿日期:2012-12-12 出版日期:2014-09-01 发布日期:2014-09-01
通讯作者: 张荣辉(1981),男,副研究员,博士.研究方向:交通信息与安全,智能车辆.E-mail:zhangrh@ms.xjb.ac.cn
作者简介:游峰(1977), 男, 副教授, 博士.研究方向:车路协同与安全控制.E-mail:youfeng77@126.com
基金资助:
国家自然科学基金项目(11147128,51108192,51208500); 中国博士后科学基金项目(2012M521824,2013T60904); 乌鲁木齐市科技攻关计划项目(G121310001); 中央高校基本科研业务费专项基金项目(x2tjD2115990).

Dynamic model and tracking control of tractor semi-trailer vehicle with underactuated system

YOU Feng¹,ZHANG Rong-hui²,WANG Hai-wei¹,XU Jian-min¹,WEN Hui-ying¹

1.School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510640,China;
2.Xinjiang Technical Institute of Physics & Chemistry, Chinese Academy of Sciences, Urumqi 830011,China

Received:2012-12-12 Online:2014-09-01 Published:2014-09-01

摘要/Abstract

摘要： 应用车辆系统动力学理论,建立了以车辆参考坐标系和地面坐标系的欠驱动汽车列车动态模型。为了简化验算和求解过程,采用准确线性化方法对建立的系统模型进行线性化。在此基础上,针对小曲率转弯半径的车辆运行轨迹,建立了极坐标下的汽车挂车系统运动学模型,应用滑模变结构控制理论,给出了车辆系统状态变量向超平面收敛的方法。最后,对平滑运动轨迹和小曲率转弯半径的跟踪控制进行了仿真分析。仿真实验结果表明:所设计的反馈控制器能改善汽车列车对行驶路线的跟踪能力,使偏离的车辆快速返回到期望的稳态轨迹上。

关键词: 交通运输工程, 车辆动力学, 欠驱动系统, 半挂汽车列车, 滑模变结构控制

Abstract: The dynamic theory of vehicle system is applied to develop the nonlinear dynamic model of underactuated vehicle in the vehicle and ground coordinate system. To simplify the process of checking and solving, the proposed model is linearized using accurate linearization method. On the basis of the linearized model, the dynamic model of tractor trailer system in polar coordinate system is established for vehicle trajectory in small turning curvature. In addition, the algorithm based on variable structure sliding model control is employed to make the state vectors of the vehicle system to converge to the hyperplane. Finally, the tracking simulations for smooth trajectory and smaller turning radius trajectory are analyzed in detail. Experiment results reveal that the designed feedback controller can improve the tracking performance of the tractor semi-trailer vehicle and drive the deviated vehicle back to the desired trajectory.

Key words: engineering of communications and transportation, vehicle dynamics, underactuated system, semitrailer vehicle, sliding mode variable structure control

中图分类号:

U461

游峰, 张荣辉, 王海玮, 徐建闽, 温惠英. 欠驱动半挂汽车列车的运动建模与跟踪控制[J]. 吉林大学学报(工学版), 2014, 44(5): 1296-1302.

YOU Feng,ZHANG Rong-hui,WANG Hai-wei,XU Jian-min,WEN Hui-ying. Dynamic model and tracking control of tractor semi-trailer vehicle with underactuated system[J]. 吉林大学学报(工学版), 2014, 44(5): 1296-1302.

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欠驱动半挂汽车列车的运动建模与跟踪控制

Dynamic model and tracking control of tractor semi-trailer vehicle with underactuated system

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