带转向装置的通用牵引车-拖车系统的运动学和动力学建模

Q3 Engineering
Marcel Moll , Timo Oksanen
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引用次数: 0

摘要

对飞行器行为的研究为制导算法的开发提供了广泛的研究。在农业方面,拖拉机引导系统现在是高级机械的标准功能。进一步提高精度的下一步是实现连接设备的厘米级引导,特别是那些配备了额外转向功能的设备。与仅使用拖拉机的情况相比,模型设计的复杂性增加了,而且制造商之间对首选的建模方法没有既定的共识。为了促进拖拉机和拖拉机制造商之间的互操作性,需要一种通用的方法,并且以前已经提出过。这项工作提出了一个增强的模型,其特点是为驱动的拖曳工具提供了一个抽象的控制接口。该接口被设计为可扩展到铰接工具,并可以解释已知的轮胎侧滑。对于更详细的模拟,一个动态版本的模型被导出,允许使用先进的轮胎和力模型。本文包括运动学和动力学模型的系统推导,以及第一次仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Kinematic and Dynamic Modeling of a Generalized Tractor-Trailer System with Steering Actuation
The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.
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来源期刊
IFAC-PapersOnLine
IFAC-PapersOnLine Engineering-Control and Systems Engineering
CiteScore
1.70
自引率
0.00%
发文量
1122
期刊介绍: All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.
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