Aiming at the steering problem of the multi-articulated virtual rail train,an all-wheel active steering control method is proposed based on the idea that the rear vehicles follow the traveling trajectory of the head one. Firstly,the traveling trajectory of the head vehicle is computed as the target path and stored in the shift register. Secondly,according to the lateral deviation of the rear axle of the vehicle from its target path,the steering angle of the rear wheel of the vehicle is determined based on the PID controller and the Stanley algorithm,and the steering angle of the front wheel of the rear vehicle is fur-ther computed using the principle of Ackermann steering geometry. Finally,the co-simulation platform of TruckSim and Matlab/Simulink is established and the simulation analysis is carried out with typical operation conditions. Obtained results show that the control method designed improves the following performance of the trailer module to the tractor module,reduces the articulation forces between the adja-cent vehicles,the center-of-mass lateral deflection angle of the vehicle body and the lateral force of the tires,and thus improves the stability of the train during the steering.
关键词
虚拟轨道列车/路径跟随/全轮主动转向/Stanley算法/阿克曼转向几何原理
Key words
virtual rail train/trajectory following/all-wheel active steering/Stanley algorithm/Ackermann steering geometry
维普
万方数据