Design And Research Of Steering Manipulation Control System For Unmanned Driving Robot

Unmanned driving robot(UDR)refers to a special operation robot that can be installed in the cab to manipulate the vehicle without any chassis modification,so as to replace or assist the human driver under harsh conditions.Based on the research on the structure and speed tracking of driving robot by the group,this dissertation studies the steering manipulation strategy,then designs the control system of UDR.Firstly,this dissertation introduces the research background and development history of UDR.Based on the structural characteristics,the driving mechanical leg,steering manipulator and driving motor are modeled.For the manipulated vehicle,the 3-DOF dynamic model is established,then the power train,braking system,steering system and tire are modeled in detail.After that,the relevant verification parts are designed.Secondly,through the demand analysis of the steering control of UDR,this dissertation determines the fundamental framework of the steering control system,then designs the hardware and software of the system,mainly including the selection and matching of main controller,sensors and driving motor.In addition,there are the hardware circuit design and software implementation of driving control module,communication module and data acquisition module,as well as the design of human-computer interaction interface.Thirdly,the steering manipulation strategy is studied in this dissertation.Based on the actual requirements of lane changing obstacle avoidance,the B-spline curve method is used to plan the obstacle avoidance path.Then taking the characteristics of human drivers,a curve preview method with certain adaptability to the path curvature and vehicle speed is designed,and the relevant constraints are set for the steering control process,which is meant to avoid the vehicle falling into instability.Finally,according to the relevant regulations and standards,this dissertation designs a variety of test conditions,carries out the prototype test and simulation test respectively,and makes an error statistical analysis,which is meant to verify the effectiveness of steering manipulation strategy and steering control system of UDR.As expected,the simulation and bench test results show that the path planning method proposed in this dissertation can get the continuous curvature path according to the specific working conditions.The proposed adaptive curve preview method shows excellent adaptability to the vehicle speed and path curvature.Combined with the designed steering manipulation control system,the lateral error in the process of vehicle path tracking can be controlled within ±0.3 m,and the azimuth deviation is controlled within ±0.3 rad,which verifies the effectiveness of the proposed method and the designed control system.