Research on lane keeping layered control strategy of six axle semi-trailer train
To address the deviation of semi-trailer trains from the center of the road due to factors such as driver's lack of concentration or external force interference,we propose a lane keeping control strategy for six axle semi-trailer train by using an electro-hydraulic coupled steering system(EHCS)as the actuator.First,a dynamic analysis of the six-axis semi-trailer train is conducted and a four degree of freedom vehicle dynamic model and EHCS actuator dynamic model are built.Second,with the introduction of hierarchical control,we propose a lane keeping control architecture for six axle semi-trailer train.The upper decision-making layer designs a front-wheel steering controller based on feedforward plus feedback linear quadratic regulator(FB-LQR)control;the lower level controller proposes an EHCS steering assist motor position and speed dual closed loop linear active disturbance rejection controller(LADRC)which improves the robustness of the target front wheel angle tracking control with the consideration of uncertain disturbances.Finally,the effectiveness of our lane keeping control strategy is verified through simulation.Our results show our strategy markedly improves the lane keeping ability of six axle semi-trailer trains and effectively resists the impact of external force interference on the lane keeping control,enhancing vehicles'safety.
semi-trailer trainelectro-hydraulic coupling steeringlane keeping controlfront wheel steering angle controlsteering motor control
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