Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles
Unmanned fully line-controlled distributed drive electric vehicles with four-wheel independent drive, dependent braking and dependent steering have significant advantages over conventional vehicles in terms of dynamic control, but at the same time multiple actuators with multiple degrees of freedom...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/11/6465 |
| _version_ | 1797597934161756160 |
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| author | Tian Tian Gang Li Yuzhi Li Ning Li Hongfei Bai |
| author_facet | Tian Tian Gang Li Yuzhi Li Ning Li Hongfei Bai |
| author_sort | Tian Tian |
| collection | DOAJ |
| description | Unmanned fully line-controlled distributed drive electric vehicles with four-wheel independent drive, dependent braking and dependent steering have significant advantages over conventional vehicles in terms of dynamic control, but at the same time multiple actuators with multiple degrees of freedom also pose the risk of failure in the steering system, which is studied in this paper for trajectory tracking control. Rational control of multiple systems such as drive, braking, steering and fault tolerance of the unmanned fully line-controlled distributed drive electric vehicles are carried out. For longitudinal control, a fuzzy PI algorithm is used to input velocity error and velocity error rate of change, and to solve the required drive torque of the vehicle based on fuzzy rules; for lateral control, according to model prediction control theory, the exact model is predicted and an optimized search is performed to reasonably allocate the forward and backward wheels turning corners ensuring the accuracy and roadholding of trajectory tracking; for fault-tolerant control, differential drive and other methods of control, when a fault is detected, the number and position information of the faulty steering motor is transmitted to the fault-tolerant decision module, which outputs control commands according to the decision. The outcomes demonstrate that the presented trajectory following the control policy enhances the precision, roadholding and safety of trajectory following in an effective way. |
| first_indexed | 2024-03-11T03:12:17Z |
| format | Article |
| id | doaj.art-3c780d1458b944cc9e1f810805ba4a3b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T03:12:17Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3c780d1458b944cc9e1f810805ba4a3b2023-11-18T07:32:29ZengMDPI AGApplied Sciences2076-34172023-05-011311646510.3390/app13116465Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric VehiclesTian Tian0Gang Li1Yuzhi Li2Ning Li3Hongfei Bai4School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Electronics & Information Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaUnmanned fully line-controlled distributed drive electric vehicles with four-wheel independent drive, dependent braking and dependent steering have significant advantages over conventional vehicles in terms of dynamic control, but at the same time multiple actuators with multiple degrees of freedom also pose the risk of failure in the steering system, which is studied in this paper for trajectory tracking control. Rational control of multiple systems such as drive, braking, steering and fault tolerance of the unmanned fully line-controlled distributed drive electric vehicles are carried out. For longitudinal control, a fuzzy PI algorithm is used to input velocity error and velocity error rate of change, and to solve the required drive torque of the vehicle based on fuzzy rules; for lateral control, according to model prediction control theory, the exact model is predicted and an optimized search is performed to reasonably allocate the forward and backward wheels turning corners ensuring the accuracy and roadholding of trajectory tracking; for fault-tolerant control, differential drive and other methods of control, when a fault is detected, the number and position information of the faulty steering motor is transmitted to the fault-tolerant decision module, which outputs control commands according to the decision. The outcomes demonstrate that the presented trajectory following the control policy enhances the precision, roadholding and safety of trajectory following in an effective way.https://www.mdpi.com/2076-3417/13/11/6465unmanned drivingfully line-controlleddistributed-drive electric vehiclestrajectory tracking controlfault-tolerant control |
| spellingShingle | Tian Tian Gang Li Yuzhi Li Ning Li Hongfei Bai Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles Applied Sciences unmanned driving fully line-controlled distributed-drive electric vehicles trajectory tracking control fault-tolerant control |
| title | Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles |
| title_full | Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles |
| title_fullStr | Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles |
| title_full_unstemmed | Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles |
| title_short | Trajectory Tracking Control Study of Unmanned Fully Line-Controlled Distributed Drive Electric Vehicles |
| title_sort | trajectory tracking control study of unmanned fully line controlled distributed drive electric vehicles |
| topic | unmanned driving fully line-controlled distributed-drive electric vehicles trajectory tracking control fault-tolerant control |
| url | https://www.mdpi.com/2076-3417/13/11/6465 |
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