25권 2호 381-398 2024 [IJAT]
| 제목 | A Motion Decoupling Control Based on Differential Geometry for Distributed Drive Articulated Heavy Vehicle |
|---|---|
| 분야 | Vehicle Dynamics and Control |
| 언어 | English |
| 저자 | Baohua Wang(Hubei University of Automotive Technology), Yuchen Sun(Hubei University of Automotive Technology), Jiacheng Zhang(Hubei University of Automotive Technology), Weilong Wang(Hubei University of Automotive Technology) |
| Key Words | Distributed drive · Diff erential geometry · Decoupling control · Robust control |
| 초록 |
A vehicle system motion decoupling control method was proposed to address challenges in controlling articulated heavy vehicles (AHVs). The method, based on diff erential geometry theory, focused on distributed electric drive AHVs. Its objective was to separate the highly nonlinear and strongly coupled dynamics system into two relatively independent subsystems: longitudinal and lateral motions. Additionally, a robust controller was designed to improve the vehicle’s resistance to external disturbances like side winds. Simulation tests using a TruckSim model of a distributed electric drive AHV show signifi cant improvements compared to vehicles without decoupling control. The rearward amplifi cation (RA) is reduced by 4.5%, the longitudinal velocity deviation by 67.5%, and the yaw rate deviation by 69.7%. The vehicle also demonstrates enhanced stability when subjected to strong breeze disturbances. To validate the control performance in real-time systems, the hardware-in-the-loop tests were conducted, which confi rms the eff ectiveness of the proposed control approach in practical applications. |
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