Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking
How to improve the driving performance of the vehicle while carrying out path tracking control has become a hot issue in current research. In this paper, an MPC (Model predictive control) path tracking control algorithm incorporating differential braking control is proposed. By establishing a vehicl...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
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| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/15/1/30 |
| _version_ | 1797339290274889728 |
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| author | Wencong Wang Gang Li Shuwei Liu |
| author_facet | Wencong Wang Gang Li Shuwei Liu |
| author_sort | Wencong Wang |
| collection | DOAJ |
| description | How to improve the driving performance of the vehicle while carrying out path tracking control has become a hot issue in current research. In this paper, an MPC (Model predictive control) path tracking control algorithm incorporating differential braking control is proposed. By establishing a vehicle dynamics model of a semi-trailer train, the model predictive control theory is adopted for path tracking. Then, the vehicle dynamics model, considering the additional yaw moment, is established to design the differential braking control strategy. Under low-speed working conditions, the PID (Proportional Integral Derivative) algorithm is used to solve the additional yaw moment with the yaw rate of the tractor traveling alone as the desired value. Under high-speed working conditions, the Fuzzy PID algorithm is used to solve the additional yaw moment with the control objective of reducing the articulation angle. Simulation models are built using MATLAB/Simulink, and TruckSim for numerical experimental validation. The numerical experimental results show that the differential braking control method proposed in this paper can improve the maneuverability of vehicles driving in low-speed conditions and the stability of vehicles driving in high-speed conditions without decreasing the precision of path tracking control. |
| first_indexed | 2024-03-08T09:44:50Z |
| format | Article |
| id | doaj.art-9686b1d97fe54a4c9996926a5bbb6dab |
| institution | Directory Open Access Journal |
| issn | 2032-6653 |
| language | English |
| last_indexed | 2024-03-08T09:44:50Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj.art-9686b1d97fe54a4c9996926a5bbb6dab2024-01-29T14:26:33ZengMDPI AGWorld Electric Vehicle Journal2032-66532024-01-011513010.3390/wevj15010030Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential BrakingWencong Wang0Gang Li1Shuwei Liu2School 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, ChinaHow to improve the driving performance of the vehicle while carrying out path tracking control has become a hot issue in current research. In this paper, an MPC (Model predictive control) path tracking control algorithm incorporating differential braking control is proposed. By establishing a vehicle dynamics model of a semi-trailer train, the model predictive control theory is adopted for path tracking. Then, the vehicle dynamics model, considering the additional yaw moment, is established to design the differential braking control strategy. Under low-speed working conditions, the PID (Proportional Integral Derivative) algorithm is used to solve the additional yaw moment with the yaw rate of the tractor traveling alone as the desired value. Under high-speed working conditions, the Fuzzy PID algorithm is used to solve the additional yaw moment with the control objective of reducing the articulation angle. Simulation models are built using MATLAB/Simulink, and TruckSim for numerical experimental validation. The numerical experimental results show that the differential braking control method proposed in this paper can improve the maneuverability of vehicles driving in low-speed conditions and the stability of vehicles driving in high-speed conditions without decreasing the precision of path tracking control.https://www.mdpi.com/2032-6653/15/1/30trajectory tracking controlmodel predictive controldifferential brakingsemi-trailer train |
| spellingShingle | Wencong Wang Gang Li Shuwei Liu Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking World Electric Vehicle Journal trajectory tracking control model predictive control differential braking semi-trailer train |
| title | Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking |
| title_full | Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking |
| title_fullStr | Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking |
| title_full_unstemmed | Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking |
| title_short | Research on Trajectory Tracking Control of a Semi-Trailer Train Based on Differential Braking |
| title_sort | research on trajectory tracking control of a semi trailer train based on differential braking |
| topic | trajectory tracking control model predictive control differential braking semi-trailer train |
| url | https://www.mdpi.com/2032-6653/15/1/30 |
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