基于协同转向的铰接车辆轨迹跟随控制研究  

Research on Trajectory Following Control of Articulated Vehicle Based on Cooperative Active Steering

作　　者：李前明 杨蔡进[1] 李艳 赵博 张德华 Li Qianming;Yang Caijin;Li Yan;Zhao Bo;Zhang Dehua(State Key Laboratory of Traction Power,Southwest Jiaotong University,Chengdu 610031,China;Chengdu Southwest Jiaotong University Design and Research Institute Co.LTD.,Chengdu 610031,China)

机构地区：[1]西南交通大学牵引动力国家重点实验室,成都610031 [2]成都西南交通大学设计研究院有限公司,成都610031

出　　处：《动力学与控制学报》2023年第2期87-95,共9页Journal of Dynamics and Control

基　　金：四川省科技计划项目(2020JDRC0008,2020YFG0023)。

摘　　要：针对铰接车辆后轴主动转向实现跟踪首轴轨迹的问题,本文提出一种基于多轴协同转向的补偿模糊PID控制方案.首先,根据各车轴具有同一转动中心的假设,利用扩展阿克曼转向原理确定了车轴的前馈控制转角;其次,依据首轴中心行驶轨迹,计算后轴的跟随偏差及变化率,并利用模糊PID控制理论,确定后轴的补偿控制转角,提高车辆的轨迹跟随控制性能;最后,在典型道路工况上,通过设置不同速度、道路附着系数及控制方案检验补偿模糊PID控制方案的轨迹跟随性能及鲁棒性.结果表明:在相同速度及道路附着系数下,相比于扩展阿克曼转向前馈控制及模糊PID控制方案,本文设计的补偿模糊PID控制进一步降低了轨迹跟随时各车体的横向偏差,并减小了车辆之间的横向铰接力;与PID控制相比,在不同速度及道路附着系数下,验证了补偿模糊PID控制具有一定的自适应性能.A compensation fuzzy PID control scheme(CFPID)based on multi-axles cooperative steering is proposed to solve the rear axles center following the driving track of the head axle in this paper.Firstly,according to the assumption that each axle has the same rotation center,the feedforward control angle of the axles is determined by using the extended Ackerman steering principle.Secondly,the following deviation and change rate of the rear axles are calculated according to the center trajectory of the head axle.And fuzzy PID control is used to determine the compensation control angle of the rear axles,so the vehicle trajectory following control performance is improved.Finally,the trajectory following performance and robustness of CFPID are verified by simulation with different speeds,road adhesion coefficients and control schemes under typical road condition.The simulation results show that the tracking control performance has improved with lest lateral deviation and lateral hinge force compared with the extended Ackerman steering feedforward control(EASF)and fuzzy PID control(FPID)under the same speed and road adhesion coefficient,which indicate the proposed CFPID reduced the transverse deviation of each vehicle body and the transverse hinge relay between vehicles.Compared with PID control,the adaptive performance of compensating fuzzy PID control is verified under different speed and road adhesion coefficient.

关 键 词：铰接车辆 扩展阿克曼转向 模糊PID控制 多轴协同转向 

分 类 号：U482.2[交通运输工程—载运工具运用工程]