Research On Dynamic Modeling And Control Of Loader Based On Parallel Simulated Driving Platformoptimal

In this paper,the loader driving simulator is taken as the research object,and the dynamic modeling of loader,the trajectory tracking control of loader and the construction of experimental platform are studied.The main research contents are as follows:Lagrange method is used to model the dynamics of loader body,magic formula is used to model tire dynamics.Combining the two methods,the dynamic model of loader is built in Simulink and its dynamic characteristics are analyzed.The virtual prototype of loader with the same parameters is built in Adams software to verify the accuracy of its model.Simplify the loader model and establish the state equation of the loader kinematics.The trajectory tracking control is carried out by using model prediction.The accuracy of trajectory tracking at different speeds is studied,and the advantages and disadvantages of the kinematics model are analyzed.The dynamic model of loader is simplified,the two-degree-of-freedom dynamic state equation is established,and the steady-state analysis of vehicle is carried out.Trajectory tracking control is carried out by model prediction,and the effects of tire lateral stiffness and road friction coefficient on trajectory tracking accuracy are studied.The parallel driving simulator platform is designed,its workspace is determined,and the control system based on Beckof is established.Using Unity3 D software,the virtual scene of loader operating conditions is established.Combining with the above Lagrange mathematical model,the physical engine of loader is established.Through UDP protocol,the tracking control algorithm can communicate with the physical engine of loader and Beifu controller,and realize the function of simulating autopilot of parallel platform.