Research On Dynamic Characteristics And Control Of Electromagnetic Direct Drive Vehicle Driving Robot

Vehicle robot driver is a kind of robot that can be equipped in a vehicle cab without any modification.It can be used to conduct automatic driving instead of a human driver.Because of the vehicle is not required to be modified and the vehicle robot driver can be directly installed in the different vehicle cab,its related technologies can be applied to vehicle road test,bench test,unmaned vehicle,unmaned military vehicle,and other military fields and civil fields.According to the former three generations prototype of DNC types of vehicle robot driver,this paper studies the dynamic characteristics and control mechanism of DNC-4 electromagnetic direct-drive vehicle robot driver.This paper first studies the system structure of gear shift manipulator,steering manipulator and clutch/brake/throttle mechanical leg of vehicle robot driver and the electromagnetic direct-drive method of the executive agencies.Then the kinematics equation and dynamic equation of each actuator are derived according to the structure characteristic of vehicle robot driver.And the dynamic characteristics of vehicle robot driver were analyzed with ADAMS software.Dynamic characteristics research shows that the structure of the vehicle robot driver needs to be further optimized.The dynamic performance of vehicle robot drive is improved through optimizing the structure of vehicle robot drive with the particle swarm intelligent optimization algorithm based on simulated annealing in this paper.The electromagnetic direct-drive control technology of the vehicle robot driver is explored according to the dynamic characteristics with intelligent group optimization.Firstly,the motor simulation model is built in SIMULINK software according to the driving principle and control method of Brushless DC electromagnetic actuator,and the ADAMS/SIMULINK co-simulation of the mechanical system and the electromagnetic drive system is realized.Then this paper studies the fuzzy immune P path control strategy and fuzzy immune PID speed control strategy of vehicle which equipped with vehicle robot driver,and the decoupling of vehicle path tracking control and velocity tracking control by continuously updating the lateral steady-state gain.Finally,the co-sirmulation of ADAMS/SIMULINK/CARSIM software and vehicle emission durability test is used to verify the effectiveness of vehicle motion control strategy which equipped with vehicle robot driver.