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高地隙自走式喷雾机横向稳定性滑模控制的研究
张鹏, 冯静安, 宋宝, 喻俊志
PDF(2344 KB)
PDF(2344 KB)
高地隙自走式喷雾机横向稳定性滑模控制的研究
Ｒesearch on the control of the lateral stability sliding film of the high－clearance self－propelled sprayer
Aiming at the problem of poor control stability and control effect of the high-clearance self-propelled sprayer,a control stability control strategy with additional yaw moment control is proposed.Firstly,a 7-degree-of-freedom vehicle model including the “Dugoff” nonlinear tire model is established; at the same time, a two-degree-of-freedom vehicle reference model is established,which provides a theoretical reference value for the coupling variable yaw rate and sideslip angle of the vehicle; then,a vehicle torque controller is designed based on sliding film control theory; Finally,under the specific working conditions of the front-wheel angle and the low-speed working state,the simulation test analysis is carried out based on the Matlab/ Simulink platform.Simulation results show that the controller designed in this paper is compared with the average error of the absolute yaw rate is reduced by 7. 70%,and the sideslip angle of the vehicle is reduced by 0. 54%,which improves the handling stability of the vehicle at low speed.
高地隙自走式喷雾机 / 横向稳定性 / 附加横摆力矩 / 滑模控制 {{custom_keyword}} /
high-clearance self-propelled sprayer / lateral stability / additional yaw moment / sliding film control {{custom_keyword}} /
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