|
|
Direct yaw moment control and realization mode of handling stability for high-clearance sprayer |
1. College of Mechanical & Electrical Engineering, Shihezi University, Shihezi, Xinjiang 832003, China; 2. School of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China |
|
|
Abstract To solve the problem of poor handling and stability control effect of self-propelled high-clearance sprayer under low-speed operating conditions, a direct yaw moment control scheme of handling stability was proposed. The 7-degree-of-freedom vehicle model including Dugoff nonlinear tire model was established, and a vehicle torque controller was designed with longitudinal control and lateral control. The longitudinal control was used to drive the wheels according to the error between actual vehicle speed and expected vehicle speed, and the force was controlled by PID closed-loop control. The lateral control was mainly composed of sliding mode controller and torque distributor, which was used to make up for the lack of longitudinal control on the driving force control. Five wheel control schemes were designed to achieve direct yaw moment for the realization of lateral control torque. The quadratic rotation orthogonal combination test was designed by the direct yaw moment realization scheme with vehicle speed and load quality as factors. By the response surface method, Design Expert software was used to explore the relationship between three factors and optimization index of handling and stability of working vehicle after introducing the direct yaw moment. The simulation test results show that the vehicle torque controller can effectively improve the steering stability of vehicle, and by changing the control scheme of inner wheel, the optimization index reaches as high as 55.2% under the combination of working speed of 1.25 m·s -1 and load of 1 000 kg.
|
Received: 04 April 2021
|
|
|
|
[1] |
薛涛. 大型高地隙喷雾机喷杆悬架设计与控制方法研究[D].北京:中国农业大学,2018.
|
[2] |
WANG N, SU S F, PAN X X, et al. Yaw-guided tra-jectory tracking control of an asymmetric underactuated surface vehicle[J]. IEEE Transactions on Industrial Informatics, doi: 10.1109/TII.2018.2877046.
|
[3] |
JOSHU P R, MATILDE S P. Fuzzy logic steering control of autonomous vehicles inside roundabouts[J]. Applied Soft Computing, 2015, 35:662-669.
|
[4] |
PEYMAN N, FARHADI A. Non-driven wheels application for intelligent multi-objective control of hybrid vehicles[J]. International Journal of Robotics & Automation, 2012, 27(2):185-197.
|
[5] |
PEREZ J, MILANES V, ONIEVA E. Cascade architecture for lateral control in autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems, 2011, 12(1):73-82.
|
[6] |
《中国公路学报》编辑部.中国汽车工程学术研究综述·2017[J].中国公路学报,2017,30(6):1-197.
|
|
Editorial Department of Chinad Journal of Highway and Transport. Review on China′s automotive engineering research progress:2017[J]. China J Highw Transp, 2017,30(6):1-197. (in Chinese)
|
[7] |
LU S B, LIM C W, HE Y B. Steering-based fault-to-lerant control for the braking failures of an independent driving electric vehicle[J]. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering, 2014, 228(9):1017-1033.
|
[8] |
GOODARZI A,MOHAMMADI M. Stability enhancement and fuel economy of the 4-wheel-drive hybrid electric vehicles by optimal tyre force distribution[J]. Vehicle System Dynamics, 2014, 52(4):539-561.
|
[9] |
陈随英, 杜岳峰, 谢斌,等. 高地隙自走式玉米去雄机驱动系统设计与特性分析[J]. 农业工程学报, 2016,32(22):10-17.
|
|
CHEN S Y, DU Y F, XIE B, et al. Design and performance analysis of drive system for high clearance self-propelled corn detasseling machine [J]. Transactions of the Chinese Society of Agricultural Engineering, 2016,32(22):10-17.(in Chinese)
|
[10] |
JUAN C, JUAN C, PREZ J, et al. A procedure for determining tire-road friction characteristics using a modification of the magic formula based on experimental results[J]. Sensors, doi: 10.3390/s18030896.
|
[11] |
HE R, JIMENEZ E, SAVITSKI D, et al. Investigating the parameterization of dugoff tire model using experimental tire-ice data[J]. SAE Int J Passeng Cars-Mech Syst,doi: 10.4271/2016-01-8039.
|
[12] |
DUGOFF H, FANCHER P S, SEGEL L. An analysis of tire traction properties and their influence on vehicle dynamic performance[J]. SAE Pap,doi: 10.4271/700377.
|
[13] |
ACKERMANN J, BNTE T. Yaw disturbance attenuation by robust decoupling of car steering[J]. Control Eng Pract,1997,5(8):1131-1136.
|
[14] |
李蒙蒙,叶洪涛,罗文广. 带饱和函数的幂次新型滑模趋近律设计与分析[J].计算机应用研究,2019,36(5): 1400-1402,1414.
|
|
LI M M, YE H T, LUO W G. Novel power reaching law with saturation function of sliding mode control design and analysis[J].Application Research of Computers,2019,36(5): 1400-1402,1414. (in Chinese)
|
[15] |
孙彪, 孙秀霞, 陈琳,等. 基于幂次函数的离散滑模控制算法[J]. 控制与决策, 2011,26(2):128-131.
|
|
SUN B, SUN X X, CHEN L, et al. Algorithm of discrete-time sliding mode control based on power-function[J]. Control and Decision, 2011,26(2): 128-131.(in Chinese)
|
|
|
|