2自由度铰接车体车辆越障偏移饱和控制

发布时间：2018-07-26 10:59

【摘要】：针对2自由度铰接车体车辆直线越障偏移问题,建立车辆越障运动的动力学模型.以后车体绕z轴的角速度、沿y轴速度和前车体相对后车体的横摆角速度作为被控量,建立误差运动学模型,对误差系统进行稳定性和能控性分析.由于净转向力矩有上限,采用反步法设计系统的抗饱和控制器,对运动偏移控制中的液压转向机构输出饱和现象进行抑制.通过计算得到了在偏移控制过程中液压转向执行机构的净输出力矩随时间变化的曲线.结果表明:加入抗饱和控制器后,通过前后车体间的转向液压系统控制前后车体相对角速度,车辆越障运动时的y向偏移误差在5 s后收敛至0,前后车体夹角、后车体进方向的偏角也随时间逐渐收敛至0,车辆沿直线路径行进,证明抗饱和控制算法能有效地消除越障偏移误差.
[Abstract]:In this paper, a dynamic model of vehicle obstacle movement is set up in accordance with the problem of 2 degree of freedom articulated vehicle's straight obstacle migration. The angular velocity of the vehicle body around the Z axis and the lateral swing angular velocity along the Y axis speed and the front car body relative to the front body are controlled, and the error kinematic model is established, and the stability and controllability of the error system are analyzed. The net rotation is due to the net rotation. With the upper limit of the torque, the anti saturation controller of the system is designed by the backstepping method. The output saturation of the hydraulic steering mechanism in the motion offset control is suppressed. The curve of the net output torque of the hydraulic steering actuator in the process of migration control is calculated. The result shows that after adding the anti saturation controller, By the relative angular velocity of the vehicle body before and after the steering hydraulic system between the front and back body, the deviation error of the Y direction is convergent to 0 after 5 s, the angle of the front and rear body and the angle of the direction of the rear body gradually converge to 0 with the time, and the vehicle moves along the line path, proving that the anti saturation control algorithm can effectively eliminate the error of the obstacle deviation. Poor.
【作者单位】：吉林大学机械科学与工程学院;汽车仿真与控制国家重点实验室(吉林大学);
【基金】：国家自然科学基金(51405187)
【分类号】：U469;U461.6

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