scholarly journals Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors

2021 ◽  
Vol 11 (3) ◽  
pp. 961
Author(s):  
Hui Zhang ◽  
Huawei Liang ◽  
Xiang Tao ◽  
Yi Ding ◽  
Biao Yu ◽  
...  
Keyword(s):  
Control Strategy ◽  
Driving Force ◽  
Sliding Mode ◽  
Lower Layer ◽  
Force Distribution ◽  
Dynamics Model ◽  
Active Set ◽  
Distribution Method ◽  
Skid Steering ◽  
And Control

In this paper, a hierarchical driving force distribution and control strategy for a six-wheel drive (6WD) skid-steering electric unmanned ground vehicle (EUGV) with independent drive motors is presented to improve the vehicle maneuverability and stability. The proposed hierarchical strategy is based on a nine-degrees-of-freedom (DOFs) dynamics model of 6WD skid-steering EUGV with a vehicle system dynamics model, wheel dynamics model, and tire model. In the proposed hierarchical strategy, the upper layer controller calculates the resultant driving force and yaw moment to control the vehicle motion states to track the desired ones by using the integral sliding mode control (ISMC) and proportion–integral–differential (PID) control methods. In the lower layer controllers, the driving force distribution method is adopted to allocate torques to the six motors. An objective function is proposed and composed of the longitudinal tire workload rates and weighting factors, considering the inequality constraints and equality constraints, which is solved by using the active set method. In order to evaluate the effectiveness of the proposed method, experiments with two types of scenarios were conducted. Comparative studies were also conducted with the other two methods used in the literature. The experimental results show that better performance can be achieved with the proposed control strategy in vehicle maneuverability and stability.

scholarly journals Research on Steering Stability Control Strategy of Four-wheel Independent Electric Drive Special Vehicles

2021 ◽  
Vol 248 ◽  
pp. 02041
Author(s):  
Liao Zili ◽  
Shu Xin ◽  
Cai Lichun ◽  
Zhang Linyun
Keyword(s):  
Driving Force ◽  
Sliding Mode ◽  
Stability Control ◽  
Utilization Rate ◽  
Force Distribution ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Yaw Rate ◽  
Optimization Function ◽  
Yaw Moment

In order to solve the steering stability problem of a special four-wheel independent electric vehicle, a dynamic model of the vehicle was established to analyze the cause of vehicle instability. A steering stability controller was designed, which included the upper yaw moment controller and the lower driving force distribution controller. Based on the sliding mode control algorithm, the yaw moment controller determines the yaw moment required while the vehicle is moving by controlling the yaw rate and sideslip angle. Based on the safety distribution method, the driving force distribution controller selects the sum of tire utilization rate as the optimization function to realize the optimal distribution of yaw moment. Software of MATLAB/Simulink and CarSim were used to build a co-simulation platform, and the designed steering stability controller was analyzed and verified. The simulation results show that the steering stability controller is helpful to improve the steering ability and handling stability of the vehicle in the extreme working conditions.

scholarly journals Attitude Blended Control for Aerospace Vehicle with Lateral Thrusters and Aerodynamic Fins

2019 ◽  
Vol 37 (3) ◽  
pp. 532-540
Author(s):  
Aijun Li ◽  
Yu Wang ◽  
Yong Guo ◽  
Changqing Wang
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Allocation ◽  
Sliding Mode Controller ◽  
Attitude Error ◽  
The Neural Network ◽  
And Control ◽  
Attitude Model

A finite-time blended control strategy is proposed for the reentry phase attitude control of the aerospace vehicle (ASV) based on the neural network, sliding mode control theory and control allocation. Firstly, a finite-time neural networks sliding mode controller is designed based on the attitude model of the ASV in the reentry phase to obtain the virtual control moments which can make the attitude error converge to the equilibrium point in finite time. Secondly, the desired control moments are mapped into the control commands on the aerodynamic deflectors and the reaction control system (RCS) by using the control allocation. Finally, simulation results are provided to demonstrate the effectiveness of the attitude blended control strategy proposed.

scholarly journals Dynamics Modeling and Control of a Quadrotor with Swing Load

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
S. Sadr ◽  
S. Ali A. Moosavian ◽  
P. Zarafshan
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Suspended Load ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Constant Length ◽  
Modeling And Control ◽  
Aerial Robots ◽  
And Control

Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.

scholarly journals The switching control strategy of redundant electromechanical servo system based on the compound sliding mode control

2021 ◽  
Vol 268 ◽  
pp. 01069
Author(s):  
Zonglun Li ◽  
Zhiyuan Yu ◽  
Menglong Jiang
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Servo System ◽  
Basic Structure ◽  
Mode Control ◽  
Control Functions ◽  
System A ◽  
Exponential Reaching Law ◽  
And Control

Aiming to resolve the limitations of robustness and stability in switching working modes of dual redundancy electric servo system, a control strategy based on sliding mode control is suggested. By analyzing the electromechanical servo system’s basic structure and working theory, a mathematical model is created to enable the design of new control functions. Taking into account the influence of the internal parameter perturbation of the electromechanical servo system during the switching between working modes, the sliding mode control is used to enhance system robustness, and the method of combining the latest saturation function and the exponential reaching law is used to minimize the system chattering. The simulation results and analysis show that the control strategy can effectively improve the robustness and control accuracy of the system.

scholarly journals Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode

2021 ◽  
Vol 11 (24) ◽  
pp. 11739
Author(s):  
Yanxin Nie ◽  
Minglu Zhang ◽  
Xiaojun Zhang
Keyword(s):  
Electric Vehicles ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lateral Deviation ◽  
Distribution Method ◽  
Tire Force ◽  
Tracking Model ◽  
Vehicle Trajectory

Aiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control theory. The vehicle dynamics model and trajectory tracking model are established. In order to tackle the chattering problem in the traditional sliding mode controller, an Adaptive Spiral Sliding Mode controller is designed by taking the derivative of the controller as the upper controller, which is intended to reduce the heading deviation and lateral deviation in the trajectory tracking process whilst ensuring the stability of the vehicle itself. In the lower controller, a four-wheel tire force optimal distribution method is designed. According to the requirements of the upper controller, combined with the yaw stability of the vehicle, the directional control distribution of the four-wheel tire force is realized. A joint simulation model was built based on CarSim and Simulink, and simulation experiments were performed. The results show that the proposed control strategy can effectively control the heading deviation and lateral deviation in the vehicle trajectory tracking while ensuring the lateral stability of the vehicle.

Review of Vehicle Active Safety Systems and their coordinated control

2020 ◽  
Vol 13 ◽  
Author(s):  
Zixiang Zhao ◽  
Xiaobin Fan
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Control Strategy ◽  
Sliding Mode ◽  
Control Strategies ◽  
Slip Rate ◽  
Coordinated Control ◽  
Active Safety ◽  
Vehicle Active Safety ◽  
And Control

Background: All the time, the safety of the vehicle has been valued by all the world's parties, whether it is now or in the future, the automobile safety issue is the hotspot and focus of the research by experts and scholars. The continuous increase of car ownership brings convenience to people's life and also poses a threat to people's life and property security. Vehicle active safety system is the hotspot of current research and development, which plays an important role in automobile safety. Firstly, the vehicle active safety technology and its development situation was introduced, then Ref. review was carried out about Anti-Lock Brake System (ABS), Electronic Brake force Distribution (EBD/CBC), Brake Assist System (BAS/EBA/BA), Traction Control System (TCS/ASR), Vehicle Stability Control (VSC/ESP/DSC), etc. At present, there are many patents on the control of each subsystem, but few patents on the integrated control for the active safety of vehicles. Objective: The main contents of this paper are as follows: the control strategies and methods of different active safety systems, how to improve the stability of vehicle control and ensure the effectiveness of active safety system control. It provides a reference for the development of active safety control technology and patent. Methods: Through the analysis of different control algorithms and control strategies of Anti-lock and braking force distribution systems, it is pointed out that the switching of EBD/ABS coordinated control strategy according to slip rate can make full use of slip rate and road adhesion coefficient to improve the safety of the system. For the BAS, the slip problem is solved through the combination of Mechanical Assistant Braking System (MABS) and Electronic Braking Assistant (EBA) system by measuring the distance of the vehicle ahead and the speed of the vehicle ahead. The optimal slip rate control is realized by different control algorithms and control strategies of traction control system. It is pointed out that the adaptive fuzzy neural controller should be used to control the yaw angular velocity and centroid side angle of Electronic Stability Program (ESP), which has a good effect on maintaining vehicle stability. A sliding mode variable structure controller combined with constant speed control and approach law control is used to control the yaw moment. Results: Through the coordinated control strategy of EBD/ABS, the slip rate and road adhesion coefficient were fully utilized by switching according to slip rate. The problem of sliding slope is solved by MABS with EBA system. The ESP should use adaptive fuzzy neural controller to control the yaw angular velocity and centroid side angle, and adopt the joint sliding mode variable structure controller which combines the ABS control and the yaw moment control. Through the optimal control theory, the coordinated control of each subsystem can significantly improve the driving stability, riding comfort, fuel economy and so on. Conclusion: This adopt different control strategy and control algorithm for different active safety control system and make full use of tire-road friction coefficient and slip ratio optimal slip ratio, then it realized accurate control of control variables such as yawing angular velocity, centroid side-slip angle, yawing moment and finally ensure the vehicle braking stability, robustness of the controller and the lateral stability of vehicle.

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