Figure - available from: Journal of Control Science and Engineering
This content is subject to copyright. Terms and conditions apply.
Source publication
To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including both the lateral position deviation and the varia...
Citations
... The weighted PID controller was used to determine the articulation angle by using the weighted parameter, which is defined as a function of lateral and heading errors [39]. H-∞ control was used to determine the control gain systemically [40]. Since the vehicle model of the articulated vehicle is nonlinear, backstepping [41] and feedback linearization [42] were utilized to design the path tracker. ...
This paper presents an integrated controller for an autonomous articulated electric vehicle (AAEV) for path tracking and rollover prevention. The AAEV is vulnerable to rollover due to the characteristics of the articulated frame steering (AFS) mechanism, which shows improved maneuverability and agility but not front wheel steering. In addition, the ratio between height and track width is high, so the AAEV is prone to rolling over. Therefore, the proposed controller was designed to achieve the two goals, following the reference path and managing the velocity to improve the safety of the AAEV. Vehicle behavior was modeled by a kinematic model with actuation delay. A local linearization was used to improve the accuracy of the vehicle model and reduce the computational load. Reference states of the position and heading were determined to follow the reference path and prevent the rollover. A model predictive control (MPC)-based reference state tracker was designed to optimize the articulation angle rate and longitudinal acceleration commands. The simulation study was conducted to evaluate the proposed algorithm with a comparison of the base algorithms. The reference path for the simulation was an S-shaped path with discontinuous curvature. Simulation results showed that the proposed algorithm reduces the path tracking error and load-transfer ratio.
... de componentes virtuales y reales, donde el sistema de control puede aplicarse a una planta virtual conteniendo el modelo dinámico del sistema, además de actuadores y sensores modelados de forma virtual o física, con lo cual se verifique su rendimiento y comportamiento. Esta técnica puede emplearse para validar leyes de control; en Shi et al. (2016), se propone un modelo de tangente hiperbólica difusa para el rastreo de caminos en un camión minero articulado validado en HIL. En Sahu et al. (2015), se presenta un modelo de control predictivo multi paramétrico (mpMPC) con un PI en cascada aplicado al control de la temperatura del aire de suministro en sistemas de aire acondicionado, utilizando HIL. ...
Resumen: En este trabajo se presenta la implementación de una plataforma Hardware-In-the-Loop (HIL) para aplicaciones de control, mediante el uso de dos tarjetas electrónicas Discovery Kit comunicadas en forma serial. Para el desarrollo de la plataforma se programaron en Simulink de Matlab tanto el modelo dinámico de la planta como la ley de control arco tangente propuesta, además de un observador con el fin de obtener los datos provenientes de la comunicación entre las tarjetas. Para validar el comportamiento del sistema HIL implementado se utilizó una trayectoria tipo flor de ocho pétalos, y se realizó una simulación completa del sistema con Simulink y otra mediante el conjunto de herramientas Robotics de Matlab. La comparación de resultados mostró que el comportamiento es similar, por lo que el sistema HIL es una opción viable para verificar leyes de control o la modificación de alguno de los parámetros en la planta sin necesidad de contar con la implementación real.
... This relative space method (RSM) is a self-organizing and a competitive neural network used to identify the space around the vehicle. A similar type of articulated model was proposed by Guang Shi et al. 79 using H-N controller equipped with back propagation neural network (BPNN). Vehicle controllability based on application of different controllers has been given by Paden et al. 80 From the above literature made on the automation of steering system and part of different controllers employed in off-road vehicles, it can be concluded that non-linear controllers like SMC, MPC, FLC and ANN are efficient to reduce the path tracking errors. ...
This article presents a brief note on the evolution of steering mechanisms and more emphasized on articulated steering system of the load haul dump machine. In this respect, pictorial representation of the evolution of steering mechanisms for on-road and articulated steering mechanisms of the load haul dump machine is made from the available literature. Critical review on basic elements required for the complete automation of the load haul dump vehicle steering system is presented. Different types of controllers for path tracking error minimization of the scale-modeled or simulated model of the load haul dump steering system are tabulated. Few case studies stimulating the complete automation of the load haul dump steering system employed on the field are also discussed. Challenges and some research gaps in making fully automated steering system of the load haul dump machine are identified in this review article. At the end, based on the critical review, some novel methods for making the fully automated steering system of the load haul dump machine is provided, which is the potential future work for the design and development of feasible automatic steering system.
This paper proposes a novel path-following control algorithm for articulated steer vehicles (ASV) by dynamic virtual terrain field (VTF) method. The altitude function of VTF, with robustness in fitting different working conditions, is adapted for the derivation of target steering wheel angle. Prior to the development of the controller, the nonlinear ASV model coupling with a full-hydraulic steering system is verified by real test and Adams/View software simulation. To get a precise path-following result, the sideslip angle is considered and controlled by ‘direct sideslip control’ and ‘road roll control’. The function of VTF is established and divided into primary and dynamic terrain field reference to the parameter variabilities. According to the vehicle dynamics model and the tire forces generated from the vehicle inclination on virtual terrain, the target articulation angle composed of the main angle and compensatory angle is derived. Simulations of path-following control at different road conditions, together with other types of controllers, are conducted and compared to show the feasibility and effectiveness of the proposed path-following control algorithm.
