六轮独立驱动无人地面车辆的稳定性和节能协调控制战略
Xiaojun Xu1, Guanpeng Chen1, Xue Gao1
1College of Intelligent Science, National University of Defense Technology, Changsha 410073, China.
ISA transactions
|October 13, 2023
概括
一个新的协调层次控制器提高了稳定性,并减少了六轮独立驱动无人地面车辆 (6WID UGV) 的轮胎磨损. 这种先进的控制系统最大限度地降低了能源消耗,并提高了车辆在运行期间的整体性能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 车辆动力学和稳定性 车辆动力学和稳定性
背景情况:
- 六轮独立驱动无人地面车 (6WID UGV) 面临着轮胎磨损和横向不稳定的挑战,原因是接触条件和方向盘的变化.
- 现有的控制策略往往不能同时充分解决稳定性和能源效率问题.
研究的目的:
- 为6WID UGVs开发和验证一个协调的层次控制器.
- 为了提高横向稳定性,同时减少轮胎磨损和电机能耗.
主要方法:
- 实现了滑动模式控制器 (SMC) 与扩展状态观察器 (ESO) 实现横向稳定,灵感来自主动干扰排斥控制 (ADRC).
- 设计了一个较低级别的控制器,使用拉格朗基函数优化扭矩分配,将轮胎滑动能量损失和电机能耗视为帕雷托最佳目标.
- 在各种操作条件下测试了控制器.
主要成果:
- 协调控制器显著改善了横向稳定性,并减少了能量损失.
- 与基于轮胎垂直负载的策略相比,在引/转向过程中降低了44.8%的轮胎滑动能量,并在制动/转向过程中降低了17.7%.
- 减少了12.1%的电机能耗,减少了70.8%的摩擦制动能耗.
结论:
- 拟议的协调层次控制器为6WID UGV提供了可观的控制性能和经济效益.
- 在提高横向稳定性和优化能源效率方面表现出有效性,解决了关键的运营挑战.
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