Steering control strategy for high-speed tracked vehicle with hydrostatic drive is designed based on analyzing the fundamental steering theories of the hydrostatic drive tracked vehicle. The strategy is completed by t...Steering control strategy for high-speed tracked vehicle with hydrostatic drive is designed based on analyzing the fundamental steering theories of the hydrostatic drive tracked vehicle. The strategy is completed by the cooperation between integrated steering control unit and pump ＆ motor displacement controller. The steering simulation is conducted by using Simulink of Matlab. It is indicated that this steering control strategy can reduce the average vehicle speed automatically to achieve the driver＇s expected steering radius exactly in the case of en- suring not exceeding the system pressure threshold and no sideslip.展开更多
In the steering process of tracked vehicle with hydrostatic drive,the motion and resistance states of the vehicle are always of uncertain and nonlinear characteristics,and these states may undergoe large-scale changes...In the steering process of tracked vehicle with hydrostatic drive,the motion and resistance states of the vehicle are always of uncertain and nonlinear characteristics,and these states may undergoe large-scale changes.Therefore,it is significant to enhance the steering stability of tracked vehicle with hydrostatic drive to meet the need of future battlefield.In this paper,a sliding mode control algorithm is proposed and applied to achieve desired yaw rates.The speed controller and the yaw rate controller are designed through the kinematics and dynamics analysis.In addition,the nonlinear derivative and integral sliding mode control algorithm is designed,which is supposed to efficiently reduce the integration saturation and the disturbances from the unsmooth road surfaces through a conditional integrator approach.Moreover,it improves the response speed of the system and reduces the chattering by the derivative controller.The hydrostatic tracked vehicle module is modeled with a multi-body dynamic software RecurDyn and the steering control strategy module is modeled by MATLAB/Simulink.The co-simulation results of the whole model show that the control strategy can improve the vehicle steering response speed and also ensure a smooth control output with small chattering and strong robustness.展开更多
Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development w...Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development work in the future. In this paper the studied off-road vehicle is a wheel loader. It can be controlled manually, remotely or autonomously. The control strategy of autonomous wheel loader is consisting of, e.g., static and dynamic mapping, path planning, obstacle observation and avoidance. In the autonomous machines and also in machines where operator assistance system is active the situational awareness is the key research field. Power management in hydraulic work machines are still active fields of research. Multiple architectures and configurations have been suggested concerning this area. In addition, implemented solutions that consider an entire machine are rarely presented. This paper introduces the research work of the control systems which are minimising the fuel consumption.展开更多
基金Sponsored by the Ministerial Level Advanced Research Foundation(2630103)
文摘Steering control strategy for high-speed tracked vehicle with hydrostatic drive is designed based on analyzing the fundamental steering theories of the hydrostatic drive tracked vehicle. The strategy is completed by the cooperation between integrated steering control unit and pump ＆ motor displacement controller. The steering simulation is conducted by using Simulink of Matlab. It is indicated that this steering control strategy can reduce the average vehicle speed automatically to achieve the driver＇s expected steering radius exactly in the case of en- suring not exceeding the system pressure threshold and no sideslip.
基金Supported by the National Natural Science Foundation of China(51475044)。
文摘In the steering process of tracked vehicle with hydrostatic drive,the motion and resistance states of the vehicle are always of uncertain and nonlinear characteristics,and these states may undergoe large-scale changes.Therefore,it is significant to enhance the steering stability of tracked vehicle with hydrostatic drive to meet the need of future battlefield.In this paper,a sliding mode control algorithm is proposed and applied to achieve desired yaw rates.The speed controller and the yaw rate controller are designed through the kinematics and dynamics analysis.In addition,the nonlinear derivative and integral sliding mode control algorithm is designed,which is supposed to efficiently reduce the integration saturation and the disturbances from the unsmooth road surfaces through a conditional integrator approach.Moreover,it improves the response speed of the system and reduces the chattering by the derivative controller.The hydrostatic tracked vehicle module is modeled with a multi-body dynamic software RecurDyn and the steering control strategy module is modeled by MATLAB/Simulink.The co-simulation results of the whole model show that the control strategy can improve the vehicle steering response speed and also ensure a smooth control output with small chattering and strong robustness.
文摘Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development work in the future. In this paper the studied off-road vehicle is a wheel loader. It can be controlled manually, remotely or autonomously. The control strategy of autonomous wheel loader is consisting of, e.g., static and dynamic mapping, path planning, obstacle observation and avoidance. In the autonomous machines and also in machines where operator assistance system is active the situational awareness is the key research field. Power management in hydraulic work machines are still active fields of research. Multiple architectures and configurations have been suggested concerning this area. In addition, implemented solutions that consider an entire machine are rarely presented. This paper introduces the research work of the control systems which are minimising the fuel consumption.
