Differential Drive Based Yaw Stabilization Using MPC for Distributed-Drive Articulated Heavy Vehicle

Xu, Tao; Ji, Xuewu; Liu, Yulong; Liu, Yahui

doi:10.1109/access.2020.2998510

Cited by 15 publications

(9 citation statements)

References 21 publications

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“…4. The parameters of the vehicle and its HSM can be found in our previous works [8,9,28] and is shown in Table . 1 With these parameters, the response comparison of the measure data with simulation results calculated by the dynamic model (with Combining Fig. 6 from study [29] and FIGURE 5 from the present work, the response comparison of the measured and simulated results show good agreement.…”

Section: A Verification Of Dynamic Modelsmentioning

confidence: 99%

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Yang

Cao

et al. 2022

IEEE Access

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Distributed-drive articulated heavy vehicles (DAHVs) have separate front and rear sections and require a complex hydraulic steering system to achieve the steering process, which poses considerable challenges in obtaining better steering characteristics and achieving path-following control. In this paper, the distributed-drive characteristic of DAHVs is used to develop a novel skid-steering method (SSM) in which the hydraulic steering method (HSM) is replaced with a system that differentially controls the driving wheels to improve vehicle steering performance and path following control accuracy. Three main contributions are made: 1) The novel SSM with direct yaw moment that is used to be the sole power source during steering process of DAHVs is designed to replace the conventional HSM. 2) The idea of SSM by yaw rate control of one vehicle section to achieve the steering process for DAHVs is proposed firstly, which can solve the complex problem of requiring multiple control parameters due to the separate vehicle sections of DAHVs. 3) A layered control method is implemented to improve the robustness of the control system, which is composed of an upper path following controller and a lower skid steering controller combined with a double sliding mode control technique. The system's stability and robustness are proven by the Lyapunov approach. A co-simulation model verified by field tests is used to demonstrate the feasibility and effectiveness of the proposed control method. The results of this study provide a new way to improve the intelligence of DAHVs.

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Section: A Verification Of Dynamic Modelsmentioning

confidence: 99%

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Yang

Cao

et al. 2022

IEEE Access

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“…e vehicle parameter is gained from the research of Gao et al [3] and Xu et al [28]. e parameters in this model are illustrated in Table 1.…”

Section: Simulation Validationmentioning

confidence: 99%

Conflict and Sensitivity Analysis of Articulated Vehicle Lateral Stability Based on Single‐Track Model

Peng

Fang²,

Kuang

et al. 2021

Shock and Vibration

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Lateral stability is quite essential for the vehicle. For the vehicle with an articulated steering system, the vehicle load and steering system performance is quite different from the passenger car with the Ackman steering system. To investigate the influence of the tire characteristics and vehicle parameters on lateral stability, a single-track dynamic model is established based on the vehicle dynamic theory. The accuracy of the built model is validated by the field test result. The investigated parameters include the tire cornering stiffness, vehicle load, wheelbase, and speed. Based on the snaking steering maneuver, the lateral stability criteria including the yaw rate, vehicle sideslip angle, tire sideslip angle, and lateral force are calculated and compared. The sensitivity analysis of the tire and vehicle parameters on the lateral stability indicators is initiated. The results demonstrated that the parameters that aﬀect the lateral vehicle stability the most are the load on the rear part and the tire cornering stiffness. The ﬁndings also lay a foundation for the optimization of the vehicle’s lateral stability.

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“…Articulated vehicles consist of two separate front and rear vehicles and an articulated steering device connecting the both vehicles. This particular form of construction and steering results in underdeveloped stability, specifically at high speed, and the snaking instability phenomenon will occur [1,3]. This situation increases the operating burden and danger for drivers and limits the speed and efficiency of articulated vehicles.…”

Section: Introductionmentioning

confidence: 99%

“…Gao [12,13] studied the critical speed of articulated vehicles' hydraulic steering systems with different hydraulic moduli of elasticity. Xu [3] studied the snaking mode under different conditions by the articulated angle. Dudziński and Skurjat [14] analysed the effects of air content in the fluid and vehicle drive form on the articulated angle.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Stability Analysis of Articulated Vehicles

2021

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This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

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Differential Drive Based Yaw Stabilization Using MPC for Distributed-Drive Articulated Heavy Vehicle

Cited by 15 publications

References 21 publications

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

A Skid-Steering Method for Path-Following Control of Distributed-Drive Articulated Heavy Vehicles

Conflict and Sensitivity Analysis of Articulated Vehicle Lateral Stability Based on Single‐Track Model

Modelling and Stability Analysis of Articulated Vehicles

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