Research On Steering Attitude Control Strategy Of Distributed Drive Articulated Vehicle

Research on steering Attitude control strategy of distributed Drive Articulated VehicleThe vehicle body of the articulated vehicle is connected by the hinge point between each other,and the vehicle body can rotate around the hinge point,so it has the characteristics of small steering radius and flexible steering,which plays an irreplaceable role in industrial development.The steering characteristics of articulated vehicle are determined by its structural characteristics.When the articulated vehicle is turning,the front vehicle body will turn and the rear vehicle body will rotate in the opposite direction to the front vehicle body,and the rear vehicle body will have lateral displacement,which reduces the passability of the articulated vehicle in complex terrain.In order to improve the passability of articulated vehicles in complex terrains,this paper presents a steering attitude control strategy for distributed drive articulated vehicle: Establish the articulated vehicle system model and the vehicle information is collected through sensors and feed back to the dynamics model when the articulated vehicle is steering to calculate the driving force that meets the steering requirements.Then the driving force is transferred to the wheels to generate the corresponding articulated vehicle steering attitude and reduce the lateral displacement generated by the rear vehicle body.The simulation model was established by MATLAB software and Adams software.The co-simulation results verify the effect of the steering attitude control strategy of the distributed drive articulated vehicle,and the simulation results show that the research of the steering attitude control strategy of the distributed drive articulated vehicle can greatly reduce the lateral displacement of the rear vehicle when the articulated vehicle is steering,and can improve the passability of the articulated vehicle in narrow terrain.Based on the National Natural Science Foundation of China project "Driving Force Distribution and Coordinated Control of Distributed electric Driven Articulated Special Vehicle under unstructured Terrain"（Project number: 51875239）,this paper carries out relevant research.The main contents and results are as follows:（1）Establish the articulated vehicle system model.The structure of articulated vehicle is analyzed,the steering characteristics of articulated vehicle are analyzed based on the structure of articulated vehicle,the structure model of articulated vehicle is established and the appropriate tire model is selected.The kinematic and mechanical relations of articulated vehicle are analyzed and the dynamic model is established.（2）Establish the steering attitude control strategy model of distributed articulated vehicle.Based on the concept of direct yaw moment,a steering attitude control strategy of distributed drive articulated vehicle is proposed.When the articulated vehicle is turning,the sensor installed on the articulated vehicle feeds back the real-time vehicle information to the articulated vehicle dynamics model what calculates the corresponding driving force and outputs the driving force to the corresponding independent driving wheel,so as to achieve the goal of changing the steering attitude of the articulated vehicle and reducing the lateral displacement of the rear vehicle when turning.（3）Establish the simulation model of distributed drive articulated vehicle.According to the analysis of the articulated vehicle structure model to establish the corresponding Adams articulated vehicle model.In order to prove that Adams vehicle model conforms to the law of physics,the correctness of Adams vehicle model is verified.Based on the established articulated vehicle dynamics model,MATLAB/Simulink articulated vehicle system model was established.In order to verified the correctness of the dynamics model in the MATLAB/Simulink articulated vehicle system model,it was verified to ensure the correctness of the simulation.（4）The steering attitude control strategy of distributed drive articulated vehicle is verified.The general articulated vehicle and the articulated vehicle with the steering attitude control strategy of the distributed drive articulated vehicle are simulated in the same conditions,and the MATLAB/Simulink articulated vehicle system model and Adams vehicle model are used for joint simulation.The theoretical driving force output by MATLAB/Simulink is analyzed and the actual driving force output by Adams vehicle model is compared with the actual driving force output by Adams vehicle model.It is proved that the driving force of each wheel received by Adams vehicle model is the driving force output by MATLAB/Simulink control strategy dynamics model.Analyzed the lateral displacement of rear body when Adams vehicle model turns in the co-simulation.The lateral displacement of the general articulated vehicle is compared with the lateral displacement of the general articulated vehicle with the distributed driving articulated vehicle attitude control strategy,it is concluded that the effect of the distributed drive articulated vehicle steering attitude control strategy is obvious.