PSO-Based Variable Parameter Linear Quadratic Regulator for Articulated Vehicles Snaking Oscillation Yaw Motion Control

Lei, Tianlong; Gu, Xuehong; Zhang, Kanghua; Li, Xiang; Wang, Jixin

doi:10.3390/act11110337

Cited by 3 publications

(3 citation statements)

References 22 publications

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“…However, at the same time, there is a problem related to the maneuverability and stability of such vehicles [5,17,18]. For example, in the paper [2,6,8] it was shown that for trailed road trains, the interconnections between individual links can generate a specific oscillating trailers behavior during vehicle maneuvers. This is confirmed by the paper results [1], where it is noted that trailed road trains with a large number of trailers exhibit unstable driving modes at high speeds, including folding links, trailer rolling and rollover.…”

Section: Methodsmentioning

confidence: 99%

To determine the maneuverability of three-link road trains type “B-triple” with steered axles of semi-trailers dollies

Marchuk,

Sakhno,

Murovanyi

et al. 2024

The Archives of Automotive Engineering – Archiwum Motoryzacji

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In recent years, the development of container transportation served as a powerful impetus for increasing the length of vehicles, especially road trains, which is due to a number of advantages regarding the transportation of large-sized freight in a container. Today, the whole range of containers is transported by two-link road trains consisting of a tractor vehicle and semi-trailer. The efficiency of such transportation can be increased by means of three-link road trains capable of transporting either three (two 20-foot and one 40- or 45-foot) or four 20-foot containers. This organization of transportation will lead to energy savings and a reduction in environmental pollution due to the reduction of vehicles. However, there is a problem with the maneuverability and stability of such vehicles. The paper developed a kinematic model of three-link road train type “B-triple” with steered axles (front or rear) of semi-trailer dolly with a dual drive control for these axles. Based on folding angles of road train links and drive control transmission ratios of the axles of semi-trailer dolly, the main indicators of road train maneuverability are determined – road train links trajectories displacement relative to the vehicle trajectory and road train overall traffic lane. It was established that when entering a turn with slight differences in folding angles of road train links, the steered axles of semi-trailer dolly turn in the direction opposite to the direction of a turn, thereby reducing the overall traffic lane. During circular motion, the overall traffic lane of road train with steered semi-trailers decreased by almost 2 m, but such road train does not meet the maneuverability requirements. The search for ways to improve the maneuverability of three-link road trains should be sought in the designs of three-link road trains.

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Section: Methodsmentioning

confidence: 99%

To determine the maneuverability of three-link road trains type “B-triple” with steered axles of semi-trailers dollies

Marchuk,

Sakhno,

Murovanyi

et al. 2024

The Archives of Automotive Engineering – Archiwum Motoryzacji

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“…Although the LQR is widely employed in vehicle control, there remains an issue concerning empirical parameter conditions. Therefore, in order to effectively control serpentine oscillation, Lei et al [ 20 ] used the Particle Swarm Optimization (PSO) algorithm to optimize LQR parameters. Wang et al [ 21 ] proposed a gain scheduling robust linear-quadratic regulator (RLQR) that addressed the limitations of parameter uncertainty by adding an additional control term to the feedback contribution of the conventional LQR.…”

Section: Introductionmentioning

confidence: 99%

Research on Yaw Stability Control Strategy for Distributed Drive Electric Trucks

Gao,

Zhao,

Zhang

2023

Sensors

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With the advancement of vehicle electrification and intelligence, distributed drive electric trucks have emerged as the preferred choice for heavy-duty electric trucks. However, the control of yaw stability remains a significant issue. To tackle this concern, this study introduces a layered control strategy for yaw moment. Specifically, the upper layer utilizes a yaw moment controller based on linear quadratic regulator (LQR) to compute the additional yaw moment required. Additionally, in order to enhance the performance of the yaw moment controller, the weight matrix in LQR is optimized using a hybrid Genetic Algorithm and Particle Swarm Optimization algorithm (GA-PSO). The lower layer consists of a torque distribution layer, which establishes an objective function for minimizing tire utilization rate. Quadratic Programming algorithm is then employed to compute the optimal torque distribution value, thereby improving the vehicle’s stability. Subsequently, the stability control effects of the vehicle are simulated and compared on the Matlab/Simulink Trucksim joint simulation platform using four control strategies: the proposed control strategy, SMC, LQR, and without yaw moment control. These simulations are conducted under two working conditions: serpentine and double lane change. The results demonstrate that the proposed approach reduces the average yaw rate by 14.4%, 19.6%, and 42.15% while optimizing the average sideslip angle by 25.9%, 24.8%, and 52.3% in comparison to the other three control strategies. Consequently, the proposed control strategy significantly enhances the driving stability of the vehicle. Furthermore, the optimized allocation method reduces the average tire utilization rate by 42.6% in contrast to the average allocation method, thereby improving the stability control margin of the vehicle. These findings successfully validate the efficiency of the yaw stability control strategy presented in this article.

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“…While previous studies have shown promising results in enhancing the LQR algorithm, there is still potential for further improvement in terms of control accuracy and stability. Lei et al [29] improved the effectiveness of the articulated vehicle winding oscillation controller by optimizing each parameter in the LQR controller through Particle Swarm Optimization (PSO). The GA-PSO algorithm combines the advantages of the GA and PSO and demonstrates strong performance in solving complex optimization problems.…”

Section: Introductionmentioning

confidence: 99%

Research on Path Tracking and Yaw Stability Coordination Control Strategy for Four-Wheel Independent Drive Electric Trucks

Gao,

Zhao,

Zhang

2023

Processes

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Achieving accurate path tracking and vehicle stability control for four-wheel independent drive electric trucks under complex driving conditions, such as high speed and low adhesion, remains a major challenge in current research. Poor coordination control may cause the vehicle to deviate from its intended path and become unstable. To address this issue, this article proposes a coordinated control strategy consisting of a three-layer control framework. In the upper layer controller design, establish a linear quadratic regulator (LQR) path tracking controller to ensure precise steering control by eliminating steady-state errors through feedforward control. The middle layer controller utilizes the fractional order sliding mode control (FOSMC) yaw moment controller to calculate the additional yaw moment based on the steering angle of the upper input, utilizing the error of yaw rate and sideslip angle as the state variable. To collectively optimize the control system, establish a coordinated optimization objective function and utilize the hybrid genetic-particle swarm optimization algorithm (GA-PSO) to optimize the weight coefficient of LQR and sliding mode parameters of FOSMC, effectively improving the performance of the controller. In the lower layer torque distribution controller, use the quadratic programming method to achieve real-time optimal torque distribution based on tire utilization, which improves vehicle stability control. Through simulations conducted under four different working conditions, the proposed control scheme demonstrates a 15.54% to 23.17% improvement in tracking performance and a 10.83% to 23.88% optimization in vehicle driving stability compared to other control methods. This scheme provides a theoretical reference for path tracking and stability control in four-wheel independent drive electric trucks.

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PSO-Based Variable Parameter Linear Quadratic Regulator for Articulated Vehicles Snaking Oscillation Yaw Motion Control

Cited by 3 publications

References 22 publications

To determine the maneuverability of three-link road trains type “B-triple” with steered axles of semi-trailers dollies

To determine the maneuverability of three-link road trains type “B-triple” with steered axles of semi-trailers dollies

Research on Yaw Stability Control Strategy for Distributed Drive Electric Trucks

Research on Path Tracking and Yaw Stability Coordination Control Strategy for Four-Wheel Independent Drive Electric Trucks

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