A Motion Decoupling Control Based on Differential Geometry for Distributed Drive Articulated Heavy Vehicle

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL

International Journal of Automotive Technology Pub Date : 2024-02-23 DOI:10.1007/s12239-024-00032-8

Baohua Wang, Yuchen Sun, Jiacheng Zhang, Weilong Wang

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Abstract

A vehicle system motion decoupling control method was proposed to address challenges in controlling articulated heavy vehicles (AHVs). The method, based on differential 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 significant improvements compared to vehicles without decoupling control. The rearward amplification (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 confirms the effectiveness of the proposed control approach in practical applications.

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基于分布式驱动铰接式重型车辆差分几何的运动解耦控制

为应对铰接式重型车辆（AHV）控制方面的挑战，提出了一种车辆系统运动解耦控制方法。该方法基于微分几何理论，主要针对分布式电驱动重型车辆。其目标是将高度非线性和强耦合的动力学系统分离为两个相对独立的子系统：纵向运动和横向运动。此外，还设计了一个鲁棒控制器，以提高车辆对外部干扰（如侧风）的抵抗能力。使用分布式电驱动 AHV 的 TruckSim 模型进行的仿真测试表明，与没有解耦控制的车辆相比，AHV 的性能有了显著提高。后向放大（RA）降低了 4.5%，纵向速度偏差降低了 67.5%，偏航率偏差降低了 69.7%。在受到强风干扰时，车辆也表现出更高的稳定性。为了验证控制在实时系统中的性能，进行了硬件在环测试，证实了所提出的控制方法在实际应用中的有效性。

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来源期刊

International Journal of Automotive Technology 工程技术-工程：机械

CiteScore

3.10

自引率

12.50%

发文量

129

审稿时长

6 months

期刊介绍： The International Journal of Automotive Technology has as its objective the publication and dissemination of original research in all fields of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING. It fosters thus the exchange of ideas among researchers in different parts of the world and also among researchers who emphasize different aspects of the foundations and applications of the field. Standing as it does at the cross-roads of Physics, Chemistry, Mechanics, Engineering Design and Materials Sciences, AUTOMOTIVE TECHNOLOGY is experiencing considerable growth as a result of recent technological advances. The Journal, by providing an international medium of communication, is encouraging this growth and is encompassing all aspects of the field from thermal engineering, flow analysis, structural analysis, modal analysis, control, vehicular electronics, mechatronis, electro-mechanical engineering, optimum design methods, ITS, and recycling. Interest extends from the basic science to technology applications with analytical, experimental and numerical studies. The emphasis is placed on contributions that appear to be of permanent interest to research workers and engineers in the field. If furthering knowledge in the area of principal concern of the Journal, papers of primary interest to the innovative disciplines of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING may be published. Papers that are merely illustrations of established principles and procedures, even though possibly containing new numerical or experimental data, will generally not be published. When outstanding advances are made in existing areas or when new areas have been developed to a definitive stage, special review articles will be considered by the editors. No length limitations for contributions are set, but only concisely written papers are published. Brief articles are considered on the basis of technical merit.