College of Automobile and Traffic Engineering, Nanjing Forestry University, Nanjing, China.
College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing, China.
PLoS One. 2021 May 25;16(5):e0252098. doi: 10.1371/journal.pone.0252098. eCollection 2021.
This paper investigates the active steering control of the tractor and the trailer for the articulated heavy vehicle (AHV) to improve its high-speed lateral stability and low-speed path following. The four-degree-of-freedom (4-DOF) single track dynamic model of the AHV with a front-wheel steered trailer is established. Considering that the road information at the driver's focus is the most clear and those away from the focus blurred, a new kind controller based on the fractional calculus, i.e., a focus preview controller is designed to provide the steering input for the tractor to make it travel along the desired path. In addition, the active steering controllers based on the linear quadratic regulator (LQR) and single-point preview controller respectively are also proposed for the trailer. However, the latter is designed on the basis of the articulation angle between the tractor and trailer, inspired by the idea of the driver's single-point preview controller. Finally, the single lane change maneuver and 90o turn maneuver are carried out. And the simulation results show that compared with the single-point preview controller, the new kind preview controller for the tractor can have good high speed maneuvering stability and low speed path tracking ability by adjusting the fractional order of the controller. On this basis, three different AHVs with the same tractor are simulated and the simulation results show that the AHV whose trailer adopts the single-point preview controller has better high-speed lateral stability and low-speed path tracking than the AHV whose trailer adopts the LQR controller.
本文研究了铰接式重型车辆（AHV）的拖拉机和拖车的主动转向控制，以提高其高速横向稳定性和低速路径跟踪能力。建立了具有前轮转向拖车的 AHV 的四自由度（4-DOF）单轨动态模型。考虑到驾驶员关注的道路信息最清晰，而远离焦点的信息则模糊，设计了一种基于分数阶微积分的新型控制器，即焦点预瞄控制器，为拖拉机提供转向输入，使其沿期望路径行驶。此外，还分别为拖车设计了基于线性二次调节器（LQR）和单点预瞄控制器的主动转向控制器。然而，后者是基于拖拉机和拖车之间的铰接角设计的，灵感来自于驾驶员单点预瞄控制器的想法。最后，进行了单车道变换和 90o转弯操作。仿真结果表明，与单点预瞄控制器相比，通过调整控制器的分数阶数，新型拖拉机预瞄控制器可以具有良好的高速操纵稳定性和低速路径跟踪能力。在此基础上，对具有相同拖拉机的三种不同 AHV 进行了仿真，仿真结果表明，采用单点预瞄控制器的拖车的 AHV 具有比采用 LQR 控制器的拖车更好的高速横向稳定性和低速路径跟踪性能。
