Automatic guidance control of an articulated all-wheel-steered vehicle

Abstract

This paper presents automatic guidance control of a single-articulated all-wheel-steered vehicle being developed by the Korea Railroad Research Institute. The vehicle has an independent drive motor on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations. We use a three-input/three-output linearised model derived from the nonlinear dynamic model of the vehicle. For the purpose of simplifying the controller and making it tunable, we consider a decentralised control configuration. We first design a second-order decoupling compensator for the two-input/two-output system that is strongly coupled and then design a first-order controller for each decoupled feedback loop by using the characteristic ratio assignment method. The simulation results for the nonlinear dynamic model indicate that the proposed control configuration successfully achieves the design objectives.

Development of a path following control model for an unmanned vibratory roller in vibration compaction

“…In real straight line path following control, the lateral error e l , heading error e u , and angle error e f are assumed to be small. Therefore, the linear equation for line path following error is derived by combining equation (12) and the linearized equation (11), which is shown as follows The steering angle adjustment factors k 1 and k 2 are determined according to Lyapunov stability theory, which makes lateral error e l , heading error e u , and angle error e f finally converge to zero. PID algorithm is applied to control the angular speed and an angle encoder is implemented to measure the steering angle and the angular speed to achieve closed-loop feedback control of the steering angle.…”

“…The measurement resolution of the encoder is set as 0.1°in the experiments. The real-time lateral error, heading error, and angle error are then calculated by equation (11).…”

“…Jujnovich and Cebon 10 designed a combined control model of a tractor and trailer by developing different control strategies at low and high speed to achieve accurate path following. Kim et al 11 established a nonlinear lateral dynamic model of an articulated AWS (all-wheel-steering) vehicle and designed a decoupling compensator and a feedback controller for each decoupled loop to achieve automatic guidance control of the vehicle. However, the articulated steering of a vibratory roller is achieved by two hydraulic cylinders, which is different from the above-mentioned vehicles that steer the wheels to achieve turning, so the above-mentioned dynamic model and control strategy cannot be applied to the vibratory roller directly.…”

Araç Parçalarının MEMS Manyetometre Sensör Çıktısına Etkisi

“…The primary reason to develop these sensors was to utilize them for navigation purposes only. Accurate heading measurement of a vehicle is one of the most important parameter for many ITS applications such as automatic guidance and control [2]. In this context, a MEMS magnetometer sensor have become quite popular for the navigation of ground vehicles.…”

Empirical Modeling of Steering System for Autonomous Vehicles

“…Automatic steering control of vehicles has been investigated for both autonomous vehicles (AV) [1][2][3] and driver steering assistance [4,5]. Driver steering assistance systems under development include collision avoidance systems, adaptive cruise control, and lane departure avoidance systems.…”