Research On Lateral Dynamics Model Of Articulated Construction Vehicle For Unmanned Driving

The articulated engineering vehicle has a flexible and variable body structure,which makes it widely used in mining,forestry,construction and other fields.Such a structure also causes its easy instability,large blind spots,and difficult driving.In addition,the characteristics of high dust and high vibration in the working environment result in high driving difficulty and high safety risks.With the rapid development of conventional vehicle unmanned driving research,in order to reduce driving difficulty and reduce personnel entry,unmanned articulated construction vehicles will be its inevitable development direction.However,the existing dynamic model cannot be fully applied to the dynamic driving process of the motion superimposition caused by the structural change of the articulated construction vehicle in the unstructured environment,and it is difficult to apply to its unmanned driving.Therefore,this article studies the lateral dynamics model of an articulated construction vehicle for unmanned driving.The main research contents are as follows:(1)This paper constructs a dynamic model of articulated construction vehicles for unmanned driving in unstructured environments.According to the structural characteristics of the articulated engineering vehicle,the kinematics relationship between the front and rear bodies of the articulated construction vehicle is solved,and its kinematics model is established.Then the dynamic equations of the whole vehicle and the front and rear car bodies are established using the D’Alembert principle to obtain the state equations,and the dynamic law of superimposed motion caused by the change of the body structure during driving is solved.(2)This paper adds lateral stability constraints on the basis of the lateral dynamics model.Explore the constraints of the entire vehicle and the front and rear bodies,and propose a rollover index for articulated engineering vehicles.Combining the characteristics of articulated engineering vehicles,the dynamic model constraint conditions such as vehicle lateral acceleration,yaw rate,angular acceleration,and the effective slip angle range of the wheel model are established,and the lateral dynamics model of articulated engineering vehicles established in this paper is optimized.(3)Based on the above research,this paper verifies the validity and accuracy through simulation models and scale prototypes.The virtual model was built through Solidworks,and the simulation experiments of accelerated driving,circular driving under different articulation angles,and sinusoidal input driving were carried out through the joint simulation of Adams and Matlab.By building a proportional prototype,real vehicle experiments of acceleration,uniform speed change of articulation angle,fishing hook working condition rollover,fixed angle acceleration rollover,and driverless simulation experiments of right-angle turning,U-turn,and obstacle avoidance were carried out.The accuracy and effectiveness of the model and constraints of the model are verified.To sum up,this article has developed a lateral dynamics model with lateral instability constraints for the needs of articulated construction vehicles,and verified the accuracy and effectiveness of the model through experiments,providing an opportunity for unmanned driving of construction vehicles.basis.