双车协同运输系统轨迹跟踪约束跟随控制  

Trajectory Tracking Constraint-Following Control for Dual-Vehicle Cooperative Transportation Systems

作　　者：代宇晟 常远 杨泽宇 张博维 胡满江 黄晋 Dai Yusheng;Chang Yuan;Yang Zeyu;Zhang Bowei;Hu Manjiang;Huang Jin(College of Mechanical and Vehicle Engineering,Hunan University,State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,Changsha 410082;Wuxi Intelligent Control Research Institute of Hunan University,Wuxi 214115;School of Vehicles and Mobility,Tsinghua University,Beijing 100084)

机构地区：[1]湖南大学机械与运载工程学院,整车先进设计制造技术全国重点实验室,长沙410082 [2]湖南大学无锡智能控制研究院,无锡214115 [3]清华大学车辆与运载学院,北京100084

出　　处：《汽车工程》2025年第4期658-668,共11页Automotive Engineering

基　　金：国家自然科学基金(52222216,52202493,52172384)资助。

摘　　要：双车协同运输系统由货物模块和前后两辆运输车组成,货物与车辆通过铰接方式连接。该系统的动力学强耦合性、强非线性等特点给其精确建模与安全精准控制带来巨大挑战。本文提出了一种基于约束跟随理论的双车协同运输系统轨迹跟踪控制方案。在系统建模层面,基于运动学及刚体动力学分析,构建协同运输系统的外部轨迹跟踪伺服约束和内部铰接关系被动约束,并通过拉格朗日建模方法建立双车协同运输系统非线性约束动力学模型。在控制器设计层面,首先,采用Udwadia-Kalaba(U-K)方法获取货物满足轨迹跟踪伺服约束所需的范数最小约束力,也即铰接点作用于货物的作用力合力;其次,按照前后车辆横向受力最小原则设计该作用力合力的最优分配策略,将其分配给前后运输车辆,并将作用力分力的反力建模为前后车辆的已知外部干扰;然后,基于已知外部干扰前馈补偿及约束跟随控制理论设计前后运输车辆满足轨迹跟踪伺服约束所需的控制力。最后,仿真结果表明,所提出的协同控制方案具有良好的轨迹跟踪效果,且能够明显抑制货物对运输车辆的横向动力学影响,有效提升协同运输系统的整体横向稳定性。The dual-vehicle cooperative transportation system consists of a cargo module and two transport vehicles,which are connected by articulated joints.The system′s strong dynamics coupling and nonlinearity present significant challenges for accurate modeling and precise control.In this paper a trajectory tracking control scheme for the cooperative transportation system based on constraint-following theory is proposed.In terms of system modeling,based on the kinematics and rigid body dynamics analysis,external trajectory tracking servo constraints and internal articulated passive constraints are constructed for the cooperative transportation system.The Lagrange modeling method is then employed to establish a nonlinear constrained dynamic model of the dual-vehicle cooperative transportation system.In terms of controller design,the Udwadia-Kalaba(U-K) method is first used to obtain the norm-minimal force required for the cargo to satisfy the trajectory tracking servo constraints,that is,the combined force acting on the cargo at the articulation point.Next,based on the minimum lateral forces principle of front and rear vehicles,an optimal allocation strategy for this combined force is designed,distributing it to the front and rear transport vehicles.The reaction forces of the distributed force components are modeled as the known external disturbances acting on the front and rear vehicles.Then,based on the feedforward compensation for the known external disturbances and the constraint-following control theory,the control forces required for the front and rear transport vehicles to satisfy the trajectory tracking servo constraints are designed.Finally,the simulation results show that the proposed cooperative control scheme achieves good trajectory tracking performance and significantly suppresses the lateral dynamic impact of the cargo on the transport vehicles,effectively enhancing the overall lateral stability of the cooperative transportation system.

关 键 词：双车协同运输 轨迹跟踪 拉格朗日建模 约束跟随控制 

分 类 号：U469.7[机械工程—车辆工程]