基于路面识别的无人搬运车直接横摆力矩控制  

Direct yaw moment control of automatic guided vehicle based on road recognition

作　　者：王啸威 刘玮[1] 于水胜 万益东 WANG Xiaowei;LIU Wei;YU Shuisheng;WAN Yidong(School of Automotive Engineering,Yancheng Institute of Technology,Yancheng 224007,Jiangsu,China)

机构地区：[1]盐城工学院汽车工程学院,江苏盐城224007

出　　处：《中国工程机械学报》2024年第4期496-500,505,共6页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(51405419);江苏省自然科学基金资助项目(21KJD460009);江苏省研究生科研实践创新计划项目(SJCX22_1682)。

摘　　要：针对转向工况下车辆在不同附着系数路面上稳定性较差,以及如何快速准确估计路面附着系数的问题,本文以无人搬运车(AGV)为研究对象,提出了一种基于路面识别的直接横摆力矩控制。设计了一种带噪声估计器的自适应无迹卡尔曼滤波(AUFK)观测器,基于滑模控制算法采用了一种自适应变速指数趋近律设计质心侧偏角和横摆角速度综合控制系统,计算附加横摆力矩。CarSim/Simulink联合仿真验证了所提出的AUFK观测器的正确性和稳定性、控制器的有效性。To address the problem of poor vehicle stability on road surfaces with different adhesion coefficients under steering conditions and how to quickly and accurately estimate road adhesion coefficients,this paper proposes a direct yaw moment control based on road recognition,taking an automatic guided vehicle(AGV)as the research object.In this paper,an adaptive unscented Kalman filter(AUFK)observer with a noise estimator is designed.This paper adopts an adaptive variable speed exponential convergence law based on the sliding mode control algorithm to design an integrated control system for the lateral deflection angle of the center of mass and the angular velocity of the transverse pendulum,and calculates the additional transverse pendulum moment.CarSim/Simulink co-simulation verifies the proposed AUFK observer’s correctness and the stability controller’s effectiveness.

关 键 词：无人搬运车 附加横摆力矩 稳定性控制 路面附着系数估计 

分 类 号：U461.6[机械工程—车辆工程]