هدایت خودکار خودروی سنگین مفصلی در شرایط ترافیکی واقعی با کنترلر مودلغزشی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 دانشگاه تربیت دبیرشهیدرجایی

2 دانشگاه تربیت دبیر شهید رجایی

3 دانشگاه صنعتی خواجه نصیرالدین طوسی

چکیده

هدف اصلی این پژوهش ارایه یک الگوریتم هدایت عرضی برای خودروهای مفصلی در شرایط ترافیکی واقعی است. مسیرهای مجاز تعویض خط دوگانه براساس سینماتیک خودروی مفصلی با لحاظ عدم برخورد با خودروی دیگر، استخراج شده است. به منظور تعیین مسیر مطلوب، دینامیک خودروی مفصلی و به‌طور ویژه تایر آن، باید مدنظر قرار گیرد تا بهترین مسیر قابل پیمایش مشخص شود. ابتدا یک مدل دینامیکی شانزده درجه آزادی غیرخطی خودروی مفصلی توسعه یافت. سپس مدل توسعه یافته با استفاده از نرم‌افزار تراک سیم در یک مانور استاندارد صحه‌گذاری گردید. همچنین برای طراحی سیستم کنترلی یک مدل دینامیکی سه درجه آزادی خودروی مفصلی شامل درجات آزادی سرعت زاویه‌ای چرخشی و سرعت جانبی واحد کشنده و زاویه مفصل بین واحد کشنده و واحد شبه تریلر بکار گرفته شد. دینامیک تایر نیز براساس مدل غیرخطی داگف شبیه‌سازی شده است. در انتها، هدایت عرضی خودروی مفصلی به منظور رهگیری مسیر تعویض خط با روش کنترل غیرخطی مودلغزشی انجام شده است. نتایج بدست آمده نشان از مناسب بودن روش کنترل غیرخطی مودلغزش در رهگیری مسیر تعویض خط خودروهای مفصلی دارد.

کلیدواژه‌ها


عنوان مقاله [English]

Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller

نویسندگان [English]

  • Saeed Shojaei 1
  • Ali Rahmani 2
  • Shahram Azadi 3
  • MOHAMMAD AMIN SAEEDI 1
1 Shahid Rajaee Teacher Training University
2 Shahid Rajaee Teacher Training University
3 K. N. Toosi University of Technology
چکیده [English]

The main purpose of this study is to present an algorithm of lateral guidance for the articulated vehicles. The possible lanes are extracted based on the kinematics of AV in terms of non - collision with the other vehicle. In order to determine the desired trajectory, the dynamic of the AV and specifically its tire must be considered. First, a sixteen-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed. Then, the vehicle model is validated using TruckSim software during a standard maneuver. Also, in order to design the control system a three-degrees-of-freedom dynamic model of an articulated vehicle is used. The degrees- of-freedom are yaw rate and lateral velocity of the tractor unit and articulation angle. Tire dynamic is simulated based on nonlinear model of Duggof. Finally, lateral guidance of the AV is applied by sliding mode control method. The results show the effectiveness of the nonlinear sliding mode control method for lateral guidance of the AV.

کلیدواژه‌ها [English]

  • Lane Change Maneuver
  • Articulated Vehicle (AV)
  • Trajectory Planning
  • Decision-making Algorithm
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