Path Following Control and Simulation Analysis of Multi-articulated Vehicles

doi:10.16182/j.issn1004731x.joss.23-0621

Abstract

Abstract:

The structure of multi-articulated vehicle body limits the flexibility of the vehicle and causes the deviation of the rear vehicle. Taking the ideal articulation angle as the control target, a feedforward plus feedback path following control method is proposed, which realizes the precise path following of rear vehicle bodies by minimizing the deviation between the ideal articulation angle and the actual articulation angle. According to the geometric position relationship between the vehicle and the desired path, the traditional calculation method of the ideal articulation angle is improved from two perspectives of application range and error accumulation.Based on the ideal articulation angle of the vehicle and the applicable scope of the control method, a feedforward plus radial basis function (RBF) neural network PID feedback controller is designed, which do not depend on the specific model. The co-simulation platform TruckSim and MATLAB/Simulink is built to compare and analyze the path following performance of vehicles under different working conditions. The simulation results show that the proposed control method has good applicability and higher following accuracy in different working conditions, and effectively reduces the error accumulation of the rear vehicle.

Key words: multi-articulated vehicles, path following, ideal articulation angle, RBF neural network, co-simulation

CLC Number:

U469.5

Zhao Yu, Yang Caijin, Wang Tanming, Xu Jing, Zhou Shuai. Path Following Control and Simulation Analysis of Multi-articulated Vehicles[J]. Journal of System Simulation, 2024, 36(10): 2300-2313.

Figures/Tables 14

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车辆参数	量值
首车质量m₁/kg	8 935
中间车质量m₂/kg	9 275
尾车质量m₃/kg	9 275
首车质心距第一轴距离a₁/m	1.8
首车质心距第二轴距离b₁/m	3.4
第一铰接点距第一轴距离l₁/m	7.45
第一铰接点距第三轴距离l₂/m	7.45
中间车质心距第三轴距离b₂/m	3.5
第二铰接点距第三轴距离d₂/m	2.15
第二铰接点距第四轴距离l₃/m	7.45
尾车质心距第四轴距离b₃/m	3.5

参数		首车轨迹	参考路径	对比结果/%
第三轴横向偏差/cm	max	6.392	5.042	-21.12
第三轴横向偏差/cm	RMS	3.821	0.967	-74.69
第四轴横向偏差/cm	max	12.312	6.182	-49.79
第四轴横向偏差/cm	RMS	4.962	1.376	-72.27

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