Research On Longitudinal Cooperative Control For Unmanned Driving Robot System

Unmanned driving robot(UDR)is a kind of special robot that can be installed in the cab without any modification to the existed manipulation platform,and it can carry out driving operation replace of human driver in dangerous and harsh environments.Due to its good versatility,it can be widely used in dual-use fields such as vehicle testing,rescue,weapon sports platforms,etc.Based on the research of the group,this paper studies the longitudinal cooperative control strategy of the unmanned driving robot system(UDRS).Firstly,the performance requirements of the UDR and the structure of the driving mechanical leg(DML)and the shifting manipulator(SM)are introduced.The kinematics model and dynamics model of the DML and SM as well as the longitudinal dynamics model of the manipulated vehicle are established.The above models are combined to build the longitudinal integrated dynamics model of the UDRS.Then,the dynamic model and characteristics of the UDR considering load and friction are studied.The Stribeck friction model is used to describe the friction behavior between the joints,and the spring pedal load model,the damping gear selection load model and the neural network gear load model are established.A more complete non-linear dynamic model of DML and SM considering load and friction is built,and the driving characteristics are analyzed.Then,according to the influence of the nonlinear disturbance on the speed control of the DML,the non-linear disturbance factor of the DML is analyzed,and the fuzzy adaptive backstepping sliding mode controller based on disturbance observer is established,and the stability is proved.On this basis,the acceleration/brake mechanical leg switching controller is designed,and the closed-loop model of "DML-manipulated vehicle" is established.Finally,the longitudinal coordinated control strategy of the UDRS is analyzed,the shifting strategy and the speed control Markov model of the UDRS are established,and the shifting strategy of fuel economy based on the DQN considering the running state of the vehicle is solved.Based on the fuzzy PID controller,a DQN compensation controller is established to control the fluctuation of vehicle speed accurately.Through the shifting strategy and the vehicle speed control strategy,combined with the non-linear controller of the DML,the simulation test proves the effectiveness of the strategy.