Title :
A trailer steering model tracking compensation control
Author :
Jie Yang ; Ning Chen
Author_Institution :
Sch. of Mechatron. Eng., Nanjing Forestry Univ., Nanjing, China
Abstract :
The dynamic model and its dynamic equations for the full trailer are established according to principles of Rigid-body Dynamics in this article. Based on the dynamics model of fully articulated vehicle, the trailer controller is designed as a reference model for the optimal control system of the model following variable structure control system. The control system adopts the pole assignment method to determine the parameters for the switching surface, through the integral compensation control, to ensure the stability of the system and eliminate the effects of vehicle parameters. Finally, using Simulink to build its model, emulation results indicate that this control system has good stability.
Keywords :
compensation; control system synthesis; optimal control; pole assignment; road traffic control; stability; steering systems; variable structure systems; vehicle dynamics; Simulink; dynamic equations; fully articulated vehicle dynamics model; integral compensation control; model following variable structure control system; optimal control system; pole assignment method; rigid-body dynamics; switching surface; system stability; trailer controller design; trailer steering model tracking compensation control; vehicle parameter effects; Agricultural machinery; Equations; Mathematical model; Stability analysis; Vehicle dynamics; Vehicles; Wheels; Full trailer; Handling stability; Model following variable structure control; The optimal control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053396
